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High-speed indoor navigation of mobile robots using hybrid dynamic control approach

Title
High-speed indoor navigation of mobile robots using hybrid dynamic control approach
Author
임준홍
Keywords
Mobile Robot; High-Speed; Indoor Navigation; Hybrid Dynamic Control
Issue Date
2001-05
Publisher
Elsevier Ltd.
Citation
IFAC Proceedings Volumes, v. 34, issue. 4, page. 257-262
Abstract
In this paper, we propose a new approach to the high-speed navigation of the indoor environments for wheeled mobile robots using hybrid dynamic control approach. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the di crete states are defined by the user-defined constraints and the abstracted motions specify the reference motion commands of mobile robots. The experimental results show that hybrid system approach is an effective method for the autonomous navigation and highspeed maneuvering.
URI
https://www.sciencedirect.com/science/article/pii/S1474667017343057https://repository.hanyang.ac.kr/handle/20.500.11754/158401
ISSN
1474-6670
DOI
10.1016/S1474-6670(17)34305-7
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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