4륜 미끄럼 조향 로봇의 경로 추종 성능 향상에 관한 연구

Abstract

This paper considers about the path tracking approach of 4-wheel skid steering robot(4WSSR) based on LOS method and localization algorithm.. LOS approach is to control two wheel velocities, in order to reduce the distance and heading errors between current point and target point. In previous work, the reliability of localization algorithm fusing UPS(Ultrasonic Position System) and robot's kinematics has been proven. In our skid steering robot, the motion is limited by motor torque restriction and battery condition. From various straight and turning driving experiments, the limitation of straight velocity and heading rate of robot is obtained. And, the optimal values are searched through path tracking experiments for the straight line path.