청소 로봇의 바퀴 제어에 대한 연구

Method of Wheel Control of Cleaning Robots

For a cleaning robot to clean thoroughly, it is important to recognize the position of the robot and to control the movement of the wheel. In this study, we propose a control method by dividing the wheels of the cleaning robot into three parts. First, we model the wheels of the mobile robot. Second, the control algorithm is verified through simulation of the modeled wheels. Third, the wheels of the actual cleaning robot are tested and verified using a control hardware.