모바일 로봇의 험지 주행 성능 향상을 위한 기구학 기반 제어 모델 개발

A new kinematic model to improve the trajectory tracking performance of a four-track mobile robot with a passively articulated suspension and the results show that PASTRo with the TTCA-based driving velocity projection method has a 39.2% lower RMS distance error, 57.9% higher RMS directional error, and 51.8% lowerRMS offset error than the four- track SSMR.