이륜 구동 로봇의 DWA를 활용한 경로 추종
Abstract
This study presents a path pursuit algorithm designed for map coverage. While traditional path planning focuses on generating an optimal path between a robot's current location and a target point, coverage path planning aims to efficiently cover a designated area without any gaps. Therefore, a path pursuit algorithm is required to minimize path deviation. The coverage path was first calculated based on the map floor plan. Using a dynamic window, we established a new objective function that allowed the robot to minimize path deviation while pursuing the designated coverage path. This was achieved by considering the errors between the paths and the robot's current location, rather than just focusing on the robot's current position and the target point. Experimental results showed that our algorithm significantly reduced path deviation by 62% compared to pure pursuit algorithms.
Keywords:
Differential drive wheeled robot, Path pursuit, Dynamic window approach, ROS(robot operating system), RMSE(root mean square error)References
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Master Course in the Department of Mechanical Engineering, Sogang University. His research interest is Mobile robot, ROS.
E-mail: leessd2004@gmail.com
Master Course in the Department of Mechanical Engineering, Sogang University. His research interest is Mobile Robot, ROS.
E-mail: bggh9395@naver.com
Master Course in the Department of Mechanical Engineering, Sogang University. His research interest is Robotics.
E-mail: seuungwon426@naver.com
Research Professor in the Department of Mechanical Engineering, Sogang University. His research interests are Robot System and Conrol and Radiopharmaceutical Automatic Manufacturing System.
E-mail: griffon0@gmail.com
Professor in th Department of Mechanical Engineering, Sogang University. His research interest is CNC Controller, Geometric Modeling and CAM, Robot & Automation System.
E-mail: cscam@sogang.ac.kr