Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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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.

무인 자율 주행 차량이 야지 환경에서 안전하게 주행하기 위해서는 차량의 주행 안정성이 반드시 고려되어야 한다. 본 논문에서는 실시간 주행 안정성 분석을 위한 자율 주행 시뮬레이션에 적용되는 경로 추종 제어기를 제시한다. 경로 추종 제어기는 Preview 거리를 사용하여 차량의 지향 각을 제어하고, 요 모멘트 관측기로부터 추정된 외란 모멘트를 보상하여 지향 각 오차와 횡 방향 거리 오차를 감소시킨다. 곡선 경로에서는 곡률을 이용하여 차량의 주행 속도를 결정한다. 대상 차량은 6X6 스키드 조향 차량이기 때문에 6개의 휠에 서로 다른 구동력을 분배하는 방법을 사용하여 주어진 경로를 주행한다. ADAMS에서 모델링 된 차량을 MATLAB과 연동시켜 시뮬레이션하고, 경로 추종 제어기 성능을 검증하였다.

Keywords

References

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