The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of Lateral Force Estimation Model for Rough Terrain Mobile Robot and Improving Estimation Reliability on Friction Coefficient

야지 주행 로봇을 위한 횡 방향 힘 추정 모델의 설계 및 마찰계수 추정 신뢰도의 향상

  • Kim, Jiyong (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University) ;
  • Joo, Sang Hyun (Agency for Defence Develpment)
  • Received : 2018.05.11
  • Accepted : 2018.07.17
  • Published : 2018.08.31
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Abstract

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

Keywords

References

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