모바일 로봇 모션 제어에 있어 샘플링 시간의 효과
Effects of the Sampling Time in Motion Controller Implementation for Mobile Robots
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초록
In this research we investigate motion controller performance for mobile robots according to changes in the control loop samplingtime. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving trackingcapability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller,which can respect robot’s path curvature limitation. We examine motion control performance in experimental tests while changingthe control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robotplatforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardwarecapability.
Abstract
In this research we investigate motion controller performance for mobile robots according to changes in the control loop samplingtime. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving trackingcapability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller,which can respect robot’s path curvature limitation. We examine motion control performance in experimental tests while changingthe control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robotplatforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardwarecapability.
참고문헌 (10)
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