Estimation Model of Contact Wheels for UGV with Actively Articulated Suspensions

가변 휠형 무인자율차량의 접촉휠 예측 모델

  • 임경빈 (한국과학기술원 기계공학과) ;
  • 김선제 (한국과학기술원 기계공학과) ;
  • 박석훈 (한국과학기술원 기계공학과) ;
  • 윤용산 (한국과학기술원 기계공학과) ;
  • 이상훈 (국방과학연구소 5기술 2부)
  • Published : 2009.08.01


Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index $I_{WTC}$ and $I_{ATC}$ were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. $I_{WTC}$ model and $I_{ATC}$ model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.


  1. Wilcox, B., 1994, 'Non-geometric Hazard Detection for a Mars Microrover,' Proceedings of the AIAA Conference on Intelligent Robotics in Field, Factory and Space
  2. Iagnemma, K., Kang, S. W., Shibly, H. and Dubowsky, S., 2004, 'On Line Terrain Parameter Estimation for Wheeled Mobile Robots with Application to Planetary Rovers,' IEEE Transactions on Robotics and Automation, Vol. ,20, No 5, pp. 921~927
  3. Shibly, H., Iagnemma, K. and Dubowsky, S., 2005, 'An Equivalent Soil Mechanics Formulation for Rigid Wheels in Deformable Terrain with Application to Planetary Exploration Rovers,' Journal of Terramechanics, Vol. 42, No 1, pp. 1~13
  4. Chakraborty, N. and Ghosal, A., 2005, 'Dynamic Modeling and Simulation of a Wheeled Mobile Robot for Traversing Uneven Terrain Without Slip,' Journal of Mechanical Design, Vol. 127, No. 5, pp. 901~909
  5. Brooks, C. A. and Iagnemma, K., 2007, 'Self-supervised Terrain Classification for Planetary Rovers,' Proceedings of NASA Science Technology Conference
  6. Iagnemma, K., Rzepniewski, A., Dubowsky, S. and Schenker, P., 2003, 'Control of Robotic Vehicles With Actively Articulated Suspensions In Rough Terrain,' Autonomous Robots, Vol. 14, No. 1, pp. 5~16
  7. Brooks C. A., Iagnemma. K. and Dubowsky, S., 2006, 'Visual Wheel Sinkage Measurement for Planetary Rover Mobility Characterization,' Autonomous Robots Vol. 21, No. 1, pp. 55~64
  8. Reina, G., Ojeda, L., Millella, A. and Borenstein, J., 2006, 'Wheel Slippage And Sinkage Detection for Planetary Rovers,' IEEE Transactions on Mechatronics, Special issue on Novel Aspects in Robotics, Vol. 11, No. 2, pp. 186~195
  9. Huh, J. W., 2008, 'Full Dynamic Model in the Loop Simulation for Path Tracking Control of a 6${\times}$6 Mobile Robot, Journal of Korea Institute of Military Science and Technology, Vol. 11, No. 4, pp. 141~148
  10. Altman, D. G. and Bland, J. M., 1994, 'Statistics Notes - Diagnostic Tests 1: Sensitivity and Specificity,' British Medical Journal, Vol. 308, No. 6943, pp. 1552~1552
  11. Brooks, C. A. and Iagnemma, K., 2005, 'Vibration-Based Terrain Classification for Planetary Exploration Rovers,' IEEE Transactions on Robotics, Vol. 21, No 6, pp. 1185~1191
  12. Lim, K. B., Park, S., Yoon, Y. S., Lee, S. H. and Kang, S., 2009, 'Configuration Planning of an Actively Articulated Suspension to Vehicle Orientation Control on Unstructured Terrain,' Trans. of the KSME (A), Vo. 33, No. 3, pp. 251~260.
  13. Athalye, A., Edwards, D., Manoranjan, V. S. and Lazaro, A. D., 1993, 'On Designing a Fuzzy Control-System Using an Optimization Algorithm,' Fuzzy Set Syst., Vol. 56, No. 3, pp. 281~290