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Simulation Based Design of Intelligent Surveillance Robot for Mobility

모바일화를 위한 지능형 경계로봇의 시뮬레이션기반 설계

  • 황기상 (충남대학교 대학원 메카트로닉스공학과) ;
  • 김도현 (충남대학교 대학원 메카트로닉스공학과) ;
  • 박규진 (충남대학교 대학원 메카트로닉스공학과) ;
  • 박성호 ((주)도담시스템스) ;
  • 김성수 (충남대학교 메카트로닉스공학과)
  • Published : 2008.04.01

Abstract

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

Keywords

Mobile Surveillance Robot;Unmanned Ground Vehicle;Stabilization Control

References

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Cited by

  1. Experimental Verification of Effectiveness of Stabilization Control System for Mobile Surveillance Robot vol.35, pp.4, 2011, https://doi.org/10.3795/KSME-A.2011.35.4.359