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Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability

실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어

  • Hong, Hyosung (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Han, Jong-Boo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Song, Hajun (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Jung, Samuel (Dept. of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Yoo, Wan Suk (Dept. of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Won, Mooncheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Joo, Sanghyun (The 5th R&D Institute, Agency for Defense Development)
  • 홍효성 (충남대학교 메카트로닉스공학과) ;
  • 한종부 (충남대학교 메카트로닉스공학과) ;
  • 송하준 (충남대학교 메카트로닉스공학과) ;
  • 정사무엘 (부산대학교 기계공학부) ;
  • 김성수 (충남대학교 메카트로닉스공학과) ;
  • 유완석 (부산대학교 기계공학부) ;
  • 원문철 (충남대학교 메카트로닉스공학과) ;
  • 주상현 (국방과학연구소 제5기술연구본부)
  • Received : 2016.09.29
  • Accepted : 2017.03.27
  • Published : 2017.07.01

Abstract

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

Keywords

Unmanned Ground Vehicle;Skid Steer;Path Tracking Control;ADAMS;Multi Body Dynamics;Traversability

Acknowledgement

Supported by : 국방과학연구소(Agency for Defence Development)

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