Robot Operating System 기반 고속 자율주행 모바일 로봇의 개선된 벽면추종 주행방식

This study demonstrates an -based high-speed autonomous mobile robot using an improved wall-following driving algorithm. The right triangular method is a popular wall-following technique. However, it cannot provide a sufficiently fast response for the abrupt change in wall direction at a corner, resulting in crashes. Therefore, a mixed-mode method is proposed by using the triangle bisection method at a corner to achieve high-speed cornering. The autonomous robot detects a corner using a corner recognition algorithm. The implemented robot employs ROS for system operations and LIDAR sensor to scan wall faces. The maximum measured speed around corners is 2.8 ㎧ (10.1 ㎞/h), which is 75% higher than that of the triangular method. The robot passes through a right angle corner without crashing at a maximum speed of 1.8 ㎧ (6.5 ㎞/h). The implemented robot platform and algorithm can be applied and expanded for the development of high-speed autonomous mobile robots.