네 바퀴 이동로봇의 주차 동작에 관한 연구A Study on Parking Motions of a Four-wheeled Mobile Robot
- Other Titles
- A Study on Parking Motions of a Four-wheeled Mobile Robot
- Authors
- 강수민; 성영휘
- Issue Date
- Aug-2024
- Publisher
- 한국산업융합학회
- Keywords
- Four-wheeled Robot; Mobile Robot; Parking Motion
- Citation
- 한국산업융합학회논문집, v.27, no.4, pp 825 - 832
- Pages
- 8
- Journal Title
- 한국산업융합학회논문집
- Volume
- 27
- Number
- 4
- Start Page
- 825
- End Page
- 832
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/28894
- DOI
- 10.21289/KSIC.2024.27.4.825
- ISSN
- 1226-833x
2765-5415
- Abstract
- Traditional cars have a structure that steers the front wheels to change their direction so they have difficulties in performing parking motion, especially in a narrow space. As electric vehicles developed, robotics technology especially omni-directional mobile robot technology began to be incorporated into the automobile field. Omni-directional mobility and special turning movements are particularly useful for parking cars. In this paper, we propose a four-wheeled mobile robot. The proposed robot has a structure that can combine or separate robot body and robot wheel parts by using electric brakes. The proposed robot has omni-directional mobility and has the ability to rotate around an arbitrary point. Due to these omnidirectional and rotational characteristics, the proposed robot allows for various types of movements when applied to a car. In particular, parking is performed in a simple and intuitive manner that does not require complicated path planning. We implemented the proposed four-wheeled robot and showed its effectiveness by conducting several parking experiments.
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