차동 구동형 로봇의 비정형 환경 주행 경로 추종 성능 향상을 위한 Pure pursuit와 속도 계획의 융합 알고리즘A Fusion Algorithm of Pure Pursuit and Velocity Planning to Improve the Path Following Performance of Differential Driven Robots in Unstructured Environments
- Other Titles
- A Fusion Algorithm of Pure Pursuit and Velocity Planning to Improve the Path Following Performance of Differential Driven Robots in Unstructured Environments
- Authors
- 김봉상; 이규호; 백승범; 이성희; 문희창
- Issue Date
- Aug-2023
- Publisher
- 한국로봇학회
- Keywords
- Differential Drive Robots; Path Tracking; Speed Planning
- Citation
- 로봇학회 논문지, v.18, no.3, pp.251 - 259
- Journal Title
- 로봇학회 논문지
- Volume
- 18
- Number
- 3
- Start Page
- 251
- End Page
- 259
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31635
- ISSN
- 1975-6291
- Abstract
- In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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