지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 1,345 - 1,350 (6page)
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초록· 키워드
오류제보하기
The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides’ wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it’s necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.
목차
Abstract
1. INTRODUCTION
2. PROBLEM FORMULATION
3. WHEEL ANGULAR VELOCITY ESTIMATION USING ENCODER
4. WHEEL VELOCITY STABILIZATION
5. PRACTICAL EXAMPLE
6. CONCLUSIONS
REFERENCES
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