• Title, Summary, Keyword: 스키드 조향

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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;Han, Jong-Boo;Song, Hajun;Jung, Samuel;Kim, Sung-Soo;Yoo, Wan Suk;Won, Mooncheol;Joo, Sanghyun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.7
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    • pp.599-605
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    • 2017
  • 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.

A Study for Path Tracking of Vehicle Robot Using Ultrasonic Positioning System (초음파 위치 센서를 이용한 차량 로봇의 경로 추종에 관한 연구)

  • Yoon, Suk-Min;Yeu, Tae-Kyeong;Park, Soung-Jea;Hong, Sup;Kim, Sang-Bong
    • Proceedings of the KSME Conference
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    • pp.795-800
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    • 2008
  • The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

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Full Dynamic Model in the Loop Simulation for Path Tracking Control of a 6$\times$6 Mobile Robot (6$\times$6 이동로봇의 경로추종을 위한 동역학 시뮬레이션)

  • Huh, Jin-Wook
    • Journal of the Korea Institute of Military Science and Technology
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    • v.11 no.4
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    • pp.141-148
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    • 2008
  • In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

Study on Vehicle Motion Analysis and Control for Skid Steering UGVs with Articulating Arms ($6{\times}6$ 가변 현수형 무인차량의 주행 분석 및 제어에 관한 연구)

  • Kang, Sin-Cheon;Huh, Jin-Wook;Lee, Sang-Hoon;Jee, Tae-Young
    • Journal of the Korea Institute of Military Science and Technology
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    • v.14 no.5
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    • pp.747-752
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    • 2011
  • Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control.