This technology is a feedback control mechanism for wheeled robots with independently driven left and right wheels. It calculates real-time angular velocity and the rate of change in distance from a side guide using gyro and distance sensors, adjusting the wheel rotation differential to calibrate straight-line driving performance.
For robots that throw curling stones, straight-line driving performance prior to release directly impacts the outcome. Existing technologies lack the control techniques necessary to precisely correct the driving direction in real-time when disturbances occur, making precision throws difficult.
This technology measures real-time angular velocity and the rate of change in distance from the guide during operation, correcting the robot's path by rotating it in the opposite direction whenever these values deviate from zero. Furthermore, it applies an interpolation control algorithm that maintains a straight path by rotating the robot and then counter-rotating it in a second direction once the rotation angle and distance change rate reach zero. Applicable to logistics transport, service robots, and autonomous driving platforms, this technology enhances the forward driving performance of curling robots by controlling forward movement through various sensors.
This invention was developed with support for the development of AI robot technology capable of collecting game strategies and executing game performance, funded by the Ministry of Science, ICT and Future Planning.
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