한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제28권8호
  • /
  • Pages.942-950
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  • 2011
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  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

식물 생산로봇에 적용을 위한 사륜 독립 조향 구동 플랫폼 연구

Development of Four-Wheel Independent Steering Driving Platform for Agricultural Robot

  • 김경철 (전북대학교 대학원 정밀기계공학과) ;
  • 김창완 (전북대학교 대학원 정밀기계공학과) ;
  • 김경주 (전북대학교 대학원 정밀기계공학과) ;
  • 유범상 (전북대학교 기계시스템공학부 & 지능형로봇연구소)
  • Kim, Kyoung-Chul (Department of Precision Mechanical Engineering, Chonbuk National Univ.) ;
  • Yang, Chang-Wan (Department of Precision Mechanical Engineering, Chonbuk National Univ.) ;
  • Kim, Kyoung-Ju (Department of Precision Mechanical Engineering, Chonbuk National Univ.) ;
  • Ryuh, Beom-Sahng (Department of Mechanical System Engineering & Intelligence Robot Research Center, Chonbuk National Univ.)
  • 투고 : 2011.02.08
  • 심사 : 2011.05.25
  • 발행 : 2011.08.01
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초록

Automation is important in modern agricultural environment, which demands the highest level of technology. In the paper an independent four-wheel steering driving platform is developed especially for horticulture in glass house farm. Mathematical modeling of the four wheel system is carried out for smooth movement. The relationships between steering angle, the turning radius, and escape trajectory are simulated using the dynamic analysis program. Optimal driving algorithm is sought through the performance evaluation.

키워드

참고문헌

  1. Kim, K. C., Ryuh, B. S., Yang, C. W. and Chang, K., "Development of Semi-Autonomous Pesticide Spray Robot for Glass House Rose Farming," J. of KSPE, Vol. 27, No. 9, pp. 34-42, 2010.
  2. Kassler, M., "Agricultural Automation in the near Millennium," Computer & Electronics in Agriculture, Vol. 30, No. 1, pp. 237-240, 2001.
  3. Kim, M., Lee, J. and Yoo, W., "A Study on the Optimum Velocity of a Four Wheel Steering Autonomous Robot," Trans. of KSAE, Vol. 17, No. 4, pp. 86-92, 2009.
  4. Gillespie, T. D., "Fundamentals of vehicle Dynamics," Society of Automotive Engineers, pp. 249-278, 1992.
  5. Kim, M. O., Lee, J. H. and Yoo, W. S., "A Study on the Optimum Velocity of a Four Wheel Steering Autonomous Robot," Trans. of KSAE, Vol. 17, No. 4, pp. 86-92, 2009.
  6. Hahn, B. H. and Valentine, D. T., "Essential MATLAB for engineers and scientists, 4th Edition," Academic Press, 2009.