ROS 기반의 모바일 로봇 시스템 개발 및 실내 자율 주행 실험 Development of ROS-based Mobile Robot System and Experiments on Indoor Autonomous Driving

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In this paper, we describe the development of a ROS-based mobile robot system and experimental results for indoor autonomous driving. The developed mobile robot system is modularized, so that ROS can be used for perception, decisions, planning and control. The platform used in this study is a differential wheeled robot, which consists of sensors for indoor mapping and localization and motor drivers for control. To verify the feasibility of the developed mobile robot system, we performed indoor autonomous driving experiments. It is found that the mobile robot can autonomously reach its destination without experiencing any collisions while localizing itself in indoor environment, recognizing obstacles, planning local paths for obstacle avoidance.
Publisher
제어로봇시스템학회
Issue Date
2019-05
Language
Korean
Citation

제어로봇시스템학회지, v.25, no.5, pp.438 - 444

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0040
URI
http://hdl.handle.net/10203/263259
Appears in Collection
EE-Journal Papers(저널논문)
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