미소운동 변환을 이용한 자율주행 자전거의 기구학 모델
Kinematic Modeling for Autonomous Bicycle Using Differential Motion Transformation
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초록
This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.
Abstract
This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.
참고문헌 (9)
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