# 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
• 72 3

#### Abstract

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.

#### Keywords

UGV;Actively Articulated Suspension;Contact Wheel;Fuzzy Rule-based Model

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