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구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 정의정 | - |
| dc.contributor.author | 이병주 | - |
| dc.date.accessioned | 2021-06-23T16:05:48Z | - |
| dc.date.available | 2021-06-23T16:05:48Z | - |
| dc.date.issued | 2009-10 | - |
| dc.identifier.issn | 1976-5622 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/41565 | - |
| dc.description.abstract | This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified. | - |
| dc.format.extent | 7 | - |
| dc.language | 한국어 | - |
| dc.language.iso | KOR | - |
| dc.publisher | 제어·로봇·시스템학회 | - |
| dc.title | 구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션 | - |
| dc.title.alternative | Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels | - |
| dc.type | Article | - |
| dc.publisher.location | 대한민국 | - |
| dc.identifier.doi | 10.5302/J.ICROS.2009.15.10.1014 | - |
| dc.identifier.scopusid | 2-s2.0-84860636254 | - |
| dc.identifier.bibliographicCitation | Journal of Institute of Control, Robotics and Systems, v.15, no.10, pp 1014 - 1020 | - |
| dc.citation.title | Journal of Institute of Control, Robotics and Systems | - |
| dc.citation.volume | 15 | - |
| dc.citation.number | 10 | - |
| dc.citation.startPage | 1014 | - |
| dc.citation.endPage | 1020 | - |
| dc.identifier.kciid | ART001380726 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.description.journalRegisteredClass | kci | - |
| dc.subject.keywordAuthor | omni-directional | - |
| dc.subject.keywordAuthor | mobile robot | - |
| dc.subject.keywordAuthor | caster wheel | - |
| dc.subject.keywordAuthor | navigation | - |
| dc.identifier.url | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART001380726 | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)