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초록

Mobile robot technology is crucial for enhancing industrial automation and efficiency, with path control being essential in the logistics, manufacturing, and service sectors. However, the design of control systems still faces challenges due to complex dynamic characteristics and environmental factors. This study proposes a method to improve the control system of mobile robots by integrating kinematic and dynamic controllers into an adaptive control framework. Traditional kinematic control methods fail to adequately account for the robot's dynamic characteristics, limiting stable and efficient operation across various environments. To overcome this, we develop a system that adjusts optimal control gains in real time, allowing for precise trajectory tracking regardless of the mobile robot's initial position and orientation. The proposed adaptive control system reduces the time and effort required for complex trajectory planning optimization while maximizing robot performance by considering various dynamic characteristics and constraints.

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