The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Real-time Recognition of the Terrain Configuration to Increase Driving Stability for Unmanned Robots

안정성 향상을 위한 자율 주행 로봇의 실시간 접촉 지면 형상인식

  • Jeon, Bongsoo (Mechatronics Engineering, Chungnam National University) ;
  • Kim, Jayoung (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • Received : 2013.08.16
  • Accepted : 2013.10.11
  • Published : 2013.11.30
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Abstract

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

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References

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