모바일 로봇 모션 제어에 있어 샘플링 시간의 효과

• 영문명: Effects of the Sampling Time in Motion Controller Implementation for Mobile Robots
• 발행기관: 한국산업경영시스템학회
• 저자명: 장태호(Tae ho Jang) 김영식(Young shik Kim)
• 간행물 정보: 『산업경영시스템학회지』제37권 제4호, 154~161쪽, 전체 7쪽
• 주제분류: 경제경영 > 경영학
• 파일형태: PDF
• 발행일자: 2014.12.31

영문 초록

In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot's path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

목차

Abstract

1. 서론

2. 컨트롤러 구조

3. 실험

4. 결론

References

키워드

Sampling Time Motion Controller Mobile Robot Gain