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2 2 METHOD FOR GENERATING TRAJECTORY AND AVOIDING COLLISION USING VELOCITY CONTROL UNCERTAINTY OF 2-WHEEL MOBILE ROBOT AND 2-WHEEL MOBILE ROBOT USING THE SAME
2 2 METHOD FOR GENERATING TRAJECTORY AND AVOIDING COLLISION USING VELOCITY CONTROL UNCERTAINTY OF 2-WHEEL MOBILE ROBOT AND 2-WHEEL MOBILE ROBOT USING THE SAME
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机译：2 2利用两轮移动机器人和两轮移动机器人的速度控制不确定性来产生弹道和避免碰撞的方法
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摘要
The present invention relates to a method for generating a collision avoidance path using the uncertainty of a speed control of a two-wheel mobile robot and a two-wheel mobile robot using the same. The collision avoidance path generation method according to the present invention includes the steps of registering a speed control uncertainty model of the two-wheeled mobile robot with the two-wheeled mobile robot, and a pre-registered free space for collision avoidance based on the speed control uncertainty model. Expanding and registering as a new free space, and generating a travel path of the two-wheeled mobile robot based on the new free space; The speed control uncertainty model is modeled based on a speed control error of a left wheel of the two-wheeled mobile robot and a speed control error of a right wheel. Accordingly, a safer and more efficient collision avoidance is possible by reflecting the uncertainty in the speed control of the two-wheeled mobile robot.
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