| Title |
A Study of Path Driving Algorithm based on Area for Flexible Driving of Following Cooperative Robots using Ultrasonic Sensors |
| Authors |
염승호(Seung-Ho Yum) ; 엄수홍(Su-Hong Eom) ; 이응혁(Eung-Hyuk Lee) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.2.118 |
| Keywords |
Mobile robots; Following; Ultrasonic sensors; Revision coordinates; Moving trajectory |
| Abstract |
This paper is a study of path driving algorithm based on area for flexible driving of following cooperative robots using ultrasonic sensors. The method of estimating the target location of a following cooperative robots using ultrasonic sensors driving based on distance and direction information derived from ultrasonic sensors. However, these robots follow with a safe distance, resulting in a time delay, and they follow in a smaller trajectory than the target's location path to overcome the distance that is far over time delay. The robot's small movement trajectory is difficult to use smoothly in an unspecified indoor space. Therefore, this paper proposes an area-based following technique using a correction coordinate system according to walking and working for flexible driving in the environment. The proposed technique coordinates the position of the updated target based on the current position of the robot, and then converts the information measured based on the current position of the robot into a correction coordinate system. After conversion, it determines whether to walking or working and driving through an area-based path generation algorithm. For the quantitative verification of this paper, walking and work simulations were constructed in a space of 2mx4m in width x length to verify driving stability. |