JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Development of Terrain-Adaptive Attitude Controller for Hybrid Mobile Platform with Wheel & Track
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Development of Terrain-Adaptive Attitude Controller for Hybrid Mobile Platform with Wheel & Track
Kwak, Jeong-Hwan; Kim, Yoon-Gu; Hong, Dae-Han; An, JinUng;
  PDF(new window)
 Abstract
This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.
 Keywords
Adaptive attitude controller;Wheel-track hybrid mobile platform;Terrain-adaptive;
 Language
Korean
 Cited by
 References
1.
정경민, 이성욱, 정승호, 김승호, "재난 인명 구조를 위한 험지 이동 로봇 기술," 제어 로봇 시스템학회지, Vol. 13, No. 1, pp.41-45, 2007.

2.
J. Casper, R.R. Murphy, "Human-Robot Interaction during the Robot-Assisted Urban Search and Rescue Response at the World Trade Center," IEEE Trans. on SMC, Vol. 33, pp. 367-386, 2003.

3.
김윤구, 김진욱, 곽정환, 홍대한, 이기동, 안진웅, "도심지형 최적 주행을 위한 휠무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘," 로봇학회논문지, Vol. 5, No. 3, pp.270-277, 2010.

4.
Z. Li, S. Ma, B. Li, M. Wang, Y. wang, "Design and basic experiments of a transformable wheel-track robot with self-adaptive mobile mechanism," Proceedings on IEEE/RSJ International Conference on Intelligent Robot Systems, pp.1334-1339, 2010.

5.
최근하, 정해관, 현경학, 곽윤근, "가변트랙형 메커니즘의 재난구조 로봇(VSTR)을 위한 장애물 극복," 제어 로봇 시스템학회지, Vol. 13, No. 12, pp.1222-1229, 2007.

6.
S.C. Kang, W.S. Lee, M.S. Kim, K.C. Shin, "ROBHAZ-rescue: rough-terrain negotiable teleoperated mobile robot for rescue mission," 2005 IEEE International on Safety, Security and Rescue Robotics Workshop, pp.105-110, 2005.

7.
유성구, 정길도, "단일 영상과 거리센서를 이용한 SLAM 시스템 구현," 전자공학회지, Vol. 45, No. 6, pp.149-156, 2008.

8.
http://www.sharpsme.com/it/optoelectronics/sen sors/distance-measuring-sensors/GP2Y0A02YK 0F/

9.
채원용, 이경준, 김희제, "모바일 로봇에 이용되는 적외선 거리측정 센서 연구," 한국지능시스템학회 학술발표논문집, Vol. 20, No. 1, 2010.

10.
http://www.hokuyo-aut.jp/02sensor/07scanner/ urg_04lx.html