한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제25권2호
  • /
  • Pages.65-71
  • /
  • 2008
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

가변트랙형 주행로봇의 장애물 탐지와 주행모드제어

Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism

  • 최근하 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 정해관 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 현경학 (한국과학기술원 기계항공시스템학부 기계공학) ;
  • 곽윤근 (한국과학기술원 기계항공시스템학부)
  • 발행 : 2008.02.01
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초록

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

키워드

참고문헌

  1. Choi, K. H., Jeong, H. K., Choi, J. H., Choi, H. D. and Kwak, Y. K., 'Obstacle Detection and Overcoming for Mobile Robot with Variable Geometry Single-tracked Mechanism,' KIMST, pp. 1017-1020, 2006
  2. Choi, K. H., Jeong, H. K. and Kwak, Y. K., 'Obstacle Detection and Driving Mode Decision for a Rescue Robot using a PSD Sensor,' Proceedings of the KSME Fall Annual Meeting, pp. 680-685, 2006
  3. Lim, S. K., Park, D. I., Kim, B. S., Jeon, S. W. and Kwak, Y. K., 'Variable Geometry Single-Tracked Mechanism for a Rescue Robot,' Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, pp.111-115, 2005
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