A Path Generation Algorithm of Autonomous Robot Vehicle By the Sensor Platform and Optimal Controller Based On the Kinematic Model
- Title
- A Path Generation Algorithm of Autonomous Robot Vehicle By the Sensor Platform and Optimal Controller Based On the Kinematic Model
- Author
- 한창수
- Keywords
- ARV(Autonomous Robot Vehicle); Sensor platform; Path generation; Kinematic modeling; Optimal Control; Scanning algorithm
- Issue Date
- 2000-10
- Publisher
- Institute of Control, Automation and Systems Engineers(ICASE)
- Citation
- 제어로봇시스템학회 2000년도 학술대회논문집, page. 399-399
- Abstract
- In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.
- URI
- https://www.koreascience.or.kr/article/CFKO200011921909550.pagehttps://repository.hanyang.ac.kr/handle/20.500.11754/162577
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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