In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot’s path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

1. 서 론
 2. 컨트롤러 구조
  2.1 모션 컨트롤러 : High-Level Controller
  2.2 모터 컨트롤러 : Low-Level Controller
 3. 실 험
  3.1 곡률 반경 선정
  3.2 샘플링 타임 선정
 4. 결 론
 Acknowledgements
 References

• 장태호(한밭대학교 기계공학부) | Tae-ho Jang
• 김영식(한밭대학교 기계공학부) | Youngshik Kim Corresponding Author