헤드리스 조종을 이용한 구형 바퀴로봇의 설계

In the places where are so many crowded people such as an airport and a large market, it is hard to move a heavy conventional cart. In this case, an omnidirectional robot carrying the baggage can be a convenient solution. however, the user should control the robot with the consideration of the orientation of the robot at all times. When the orientation of the robot and the user are different, it is hard to control the carrier robot. In this research, we developed a novel control method of an omnidirectional carrier robot, which compensates the orientation inconsistency between the robot and user automatically by two magnetic sensors. This configuration allows the user to control it much easily and instinctively. In this research, a special kind of omnidirectional robot for a baggage carrier was designed, and the wireless headless controller was developed. Finally the system was evaluated.