ARS를 이용한 2바퀴 로봇의 자세 제어에 관한 연구
A Study on Pose Control for 2 wheel Robot using ARS
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초록
In this paper, configuration control for the Horizontal Maintenance of the 2 wheel robot has been studied using ARS(Attitude Refrence System). The 2 wheel robot technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a 2 wheel robot can move in various modes and Our robot performs goal reaching ARS.2 wheel robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the ARS control.
Abstract
In this paper, configuration control for the Horizontal Maintenance of the 2 wheel robot has been studied using ARS(Attitude Refrence System). The 2 wheel robot technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a 2 wheel robot can move in various modes and Our robot performs goal reaching ARS.2 wheel robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the ARS control.
참고문헌 (8)
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