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삼륜형 전방향 이동로봇을 위한 경로추종 및 방위제어
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 최한수 | - |
| dc.contributor.author | 김동일 | - |
| dc.contributor.author | 송재복 | - |
| dc.date.accessioned | 2021-09-04T21:20:11Z | - |
| dc.date.available | 2021-09-04T21:20:11Z | - |
| dc.date.created | 2021-06-17 | - |
| dc.date.issued | 2015 | - |
| dc.identifier.issn | 1975-6291 | - |
| dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/95182 | - |
| dc.description.abstract | Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller. | - |
| dc.language | Korean | - |
| dc.language.iso | ko | - |
| dc.publisher | 한국로봇학회 | - |
| dc.title | 삼륜형 전방향 이동로봇을 위한 경로추종 및 방위제어 | - |
| dc.title.alternative | Simultaneous path tracking and orientation control for three-wheeled omni-directional robots | - |
| dc.type | Article | - |
| dc.contributor.affiliatedAuthor | 송재복 | - |
| dc.identifier.bibliographicCitation | 로봇학회 논문지, v.10, no.3, pp.154 - 161 | - |
| dc.relation.isPartOf | 로봇학회 논문지 | - |
| dc.citation.title | 로봇학회 논문지 | - |
| dc.citation.volume | 10 | - |
| dc.citation.number | 3 | - |
| dc.citation.startPage | 154 | - |
| dc.citation.endPage | 161 | - |
| dc.type.rims | ART | - |
| dc.identifier.kciid | ART002025145 | - |
| dc.description.journalClass | 2 | - |
| dc.description.journalRegisteredClass | kci | - |
| dc.subject.keywordAuthor | Omni-directional robots | - |
| dc.subject.keywordAuthor | path tracking | - |
| dc.subject.keywordAuthor | orientation control | - |
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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