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

  • 제33권3호
  • /
  • Pages.251-260
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  • 2009
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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험지에서의 가변 휠형 무인 자율차량의 자세 제어를 위한 가변 휠의 형상 계획

Configuration Planning of an Actively Articulated Suspension to Vehicle Orientation Control on Unstructured Terrain

  • 임경빈 (한국과학기술원 기계공학과) ;
  • 박석훈 (한국과학기술원 기계공학과) ;
  • 윤용산 (한국과학기술원 기계공학과) ;
  • 이상훈 (국방과학연구소 5-2체계) ;
  • 강신천 (국방과학연구소 5-2체계)
  • 발행 : 2009.03.01
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초록

Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

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참고문헌

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피인용 문헌

  1. Estimation Model of Contact Wheels for UGV with Actively Articulated Suspensions vol.33, pp.8, 2009, https://doi.org/10.3795/KSME-A.2009.33.8.832