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Contour tracking of an unknown planar object by regulating force for mobile robot navigation

Published online by Cambridge University Press:  01 May 2006

Seul Jung ,
Poongwoo Jeon  and
T. C. Hsia
Seul Jung*
Affiliation:
BK 21 Mechatronics Group, Intelligent Systems and Emotional Engineering Laboratory, Chungnam National University, Daejeon 305-764, Korea
Poongwoo Jeon
Affiliation:
BK 21 Mechatronics Group, Intelligent Systems and Emotional Engineering Laboratory, Chungnam National University, Daejeon 305-764, Korea
T. C. Hsia
Affiliation:
Department of Electrical and Computer Engineering, University of California, Davis, CA 95616, USA
*
*Corresponding author. E-mail: jungs@cnu.ac.kr
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Summary

In this paper, a novel contour-tracking control method of an unknown planar object by lateral force regulation for wheeled mobile robot navigation is presented. The robot is required to follow the contour of an unknown object toward the goal position. Based on mobile robot dynamic equations, a force-control algorithm is proposed to maintain constant contact with a planar object. Measured contact force from an object is used not only to regulate a contact force in a lateral direction, but also to control the orientation angle of the robot to avoid collision with an object. Simulation and experiment of contour-tracking tasks of a wheeled mobile robot are conducted. Experimental results show that the contact force is well-regulated, and the robot arrives at the goal position successfully.

Keywords

Contour trackingMobile robot navigationForce control
Type
Article
Information
Robotica , Volume 25 , Issue 3 , May 2006 , pp. 297 - 305
Copyright
Copyright © Cambridge University Press 2006

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