가변트랙형 주행로봇의 장애물 탐지와 주행모드제어Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism

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In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.
Publisher
한국정밀공학회
Issue Date
2008-02
Language
Korean
Citation

한국정밀공학회지, v.25, no.2, pp.65 - 71

ISSN
1225-9071
URI
http://hdl.handle.net/10203/87324
Appears in Collection
ME-Journal Papers(저널논문)
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