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한국생산제조학회 학술지 영문 홈페이지
[ Papers ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 28, No. 3, pp.156-165
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2019
Received 22 Nov 2018 Revised 21 Mar 2019 Accepted 21 May 2019
DOI: https://doi.org/10.7735/ksmte.2019.28.3.156

Robot Operating System 기반 고속 자율주행 모바일 로봇의 개선된 벽면추종 주행방식

한승한a, b ; 최용래c ; 양재필c ; 황형준c ; 김기훈c ; 신주혜b ; 장동영b, c ; 심동하b, c, *
Improved Wall-following Driving for Robot Operating System-based High-speed Autonomous Mobile Robot
Seunghan Hana, b ; Yongrae Choic ; Jaepil Yangc ; Hyungjun Hwangc ; Kihun Kimc ; Juhye Shinb ; Dong-Young Jangb, c ; Dongha Shimb, c, *
aHYUNDAI HEAVY INDUSTRIES HOLDINGS CO., LTD, 102-18, Mabukro, Giheung-gu, Yongin, Gyeonggi-do, 16891, Korea
bDept. of MSDE, SeoulTech, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea
cMSDE Programme, Seoultech, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: *Tel.: +82-2-970-7287 Fax: +82-2-974-5388 E-mail address: dongha@seoultech.ac.kr (Dongha Shim).

Abstract

This study demonstrates an -based high-speed autonomous mobile robot using an improved wall-following driving algorithm. The right triangular method is a popular wall-following technique. However, it cannot provide a sufficiently fast response for the abrupt change in wall direction at a corner, resulting in crashes. Therefore, a mixed-mode method is proposed by using the triangle bisection method at a corner to achieve high-speed cornering. The autonomous robot detects a corner using a corner recognition algorithm. The implemented robot employs ROS for system operations and LIDAR sensor to scan wall faces. The maximum measured speed around corners is 2.8 m/s (10.1 km/h), which is 75% higher than that of the triangular method. The robot passes through a right angle corner without crashing at a maximum speed of 1.8 m/s (6.5 km/h). The implemented robot platform and algorithm can be applied and expanded for the development of high-speed autonomous mobile robots.

Keywords:

Mobile robot, ROS, High-speed autonomous driving, Corner recognition algorithm, Triangle bisection method

Acknowledgments

이 논문은 2019년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원(과제번호 P0002092, 2019년 산업전문인력역량강화사업)과 창의융합 특성화 인재양성사업의 지원(과제번호 N0000717)을 받아 수행된 연구임.

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