이동로봇의 지능적 동작과 자율 주행을 위한 하이브리드 시스템의 구성과 제어
- Title
- 이동로봇의 지능적 동작과 자율 주행을 위한 하이브리드 시스템의 구성과 제어
- Author
- 임준홍
- Issue Date
- 2000-03
- Publisher
- 제어로봇시스템학회
- Citation
- 2000년도 제어계측 자동화 로보틱스 연구회 합동 학술 발표회 논문집, page. 57-62
- Abstract
- In this paper, we propose a new approach to the intelligent motion and autonomous
maneuvering of wheeled mobile robots using hybrid system synthesis and control.
The hybrid system is introduced to the intelligent motion control of nonholonomic
mobile robots in the indoor navigation problems. In discrete state system as a high
level. the discrete states are defined by the sensor-based search windows and the
reference motions of a mobile robot as a low level are specified in the abstracted
motions. The hybrid system synthesized for the nonholonomic mobile robots can combine
the motion planning and autonomous maneuvering with obstacle avoidance in indoor
navigation problem. Experimental results show that hybrid system approach is an
effective method for the autonomous maneuvering in indoor environments.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02035709https://repository.hanyang.ac.kr/handle/20.500.11754/161827
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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