APPARATUS AND METHOD FOR DETECTING MOVEMENT ERROR IN MOVING ROBOT

摘要

An apparatus and a method for detecting a movement error of a mobile robot are provided to detect wheel slip or over-current error of a mobile robot by modeling dynamic characteristic of the mobile robot mathematically and comparing actual and ideal output values. A method for detecting a movement error of a mobile robot comprises a step of detecting the actual movement of wheels according to a travel command inputted to a drive motor through a sensor unit and outputting an actual output value(S61,S63,S65), a step of calculating an ideal output value outputted from the sensor unit according to the normal movement of the wheels by the travel command(S67), and a step of comparing the actual output value with the ideal output value to determine a movement error(S69,S71,S73,S77).