The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Study on Driving a Bumped Slope of Mobile Robot According to Changing the Damping Coefficient of Suspensions

이동 로봇의 서스펜션 댐핑계수 변화에 따른 장애물이 있는 경사로 주행에 관한 연구

  • Jeon, Bongsoo (Mechatronics Engineering, Chungnam National University) ;
  • Kim, Jayoung (Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Mechatronics Engineering, Chungnam National University)
  • Received : 2016.02.25
  • Accepted : 2016.04.06
  • Published : 2016.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

Keywords

References

  1. F. Matsuno and S. Tadokoro, "Rescue Robots and Systems in Japan", Proc. IEEE International Conference on Robotics and Biomimetic, 2004, pp. 12-20.
  2. H.-K. Jeong, K.-H. Hyun, S.-H. Kim, Y.-K. Kwak, "Experimental Verification of Obstacle Avoidance Algorithm ELA Applicable to Rescue Robots," The Journal of Korea Robotics, vol. 4, no. 2, pp. 105-111, 2009.
  3. Y.-L. Wei, C.-Y. Kim, M.-C. Lee, "Indoor Mobile Robot Heading Detection Using MEMS Gyro North Finding Approach," The Journal of Korea Robotics, vol. 6, no. 4, pp. 334-343, 2011. https://doi.org/10.7746/jkros.2011.6.4.334
  4. T. Kamegawa, T. Yamasaki, H. Igarashi and F. Matsuno, "Development of The Snake-link Rescue Robot KOHGA," Proceedings of the 2004 IEEE International conference on Robotics and Automation, 2004, pp. 5081-5086.
  5. A. Krebs, T. Thueer, E. Carrasco, R. Siegwart, "Towards torque control of the CRAB rover", Proc. Of The 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), 2008.
  6. T. Thueer, R. Siegwart, "Mobility evaluation of wheeled all-terrain robots," Robotics and Autonomous Systems, vol. 58, no. 5, pp. 508-519, May, 2010. https://doi.org/10.1016/j.robot.2010.01.007
  7. Y.-J. Kim, B.-S. Jeon, J.-Y. Kim, J.-H. Lee, "Analysis for Stability for Passive Mechanisms of High Speed Mobile Robot on Rough Terrain," Journal of Korea Robotics Society, vol. 9, no. 2, pp. 124-131, 2014. https://doi.org/10.7746/jkros.2014.9.2.124
  8. M. W. Bode, "Learning the forward predictive model for an off-road skid-steer vehicle," Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RITR-07-32, 2007.
  9. J. S. Albus, "4D/RCS : a reference model architecture for intelligent unmanned ground vehicles," Proc. Of SPIE Aerosense Conference, 2002, pp. 303-310.
  10. S.-H. Joo, J.-H. Lee, "A Dynamic Modeling of 6x6 Skid Type Vehicle for Real Time Traversability Analysis over Curved Driving Path," Journal of Automation and Control Engineering, vol. 18, no. 4, pp. 359-364, 2012.
  11. S.-H. Joo, J.-H. Lee, "A High-speed Autonomous Navigation Based on Real Time Traversability for 6x6 Skid Vehicle," Journal of Automation and Control Engineering, vol. 18, no. 3, pp. 251-257, 2012.
  12. C. Vassal, O. Sename, L. Dugard, P. Gaspar, Z. Szabo, J. Bokor, "A New semi-active suspension control strategy through LPV technique," Control Engineering Practice, vol. 16, no. 12, pp. 1519-1534, 2008. https://doi.org/10.1016/j.conengprac.2008.05.002
  13. G. Z. Yao, F. F. Yap, G. Chen, W. H. Li, S. H. Yeo, "MR damper and its application for semi-active control of vehicle suspension system," Mechatronics, vol. 12, no. 7, pp. 963-973, 2002. https://doi.org/10.1016/S0957-4158(01)00032-0
  14. C. Vassal, C. Spelta, O. Sename, S. Savaresi, L. Dugard, "Survey and performance evaluation on some automotive semi-active suspension control methods: A comparative study on a single-corner model," Annual Reviews in Control, vol. 36, no. 1, pp. 148-160, 2012. https://doi.org/10.1016/j.arcontrol.2012.03.011
  15. A. Unger, F. Schimmack, B. Lohmann, R. Schwarz, "Application of LQ-based semi-active suspension control in a vehicle," Control Engineering Practice, vol. 21, no. 12, pp.1841-1850, 2013. https://doi.org/10.1016/j.conengprac.2013.06.006
  16. J. Yao, W. Shi, J. Zheng, H. Zhou, "Development of a sliding mode controller for semi-active vehicle suspensions," Journal of Vibration and Control, vol. 19, no. 8, pp.1152-1160, 2013. https://doi.org/10.1177/1077546312441045
  17. K. El Majdoub, D. Ghani, F. Giri, F. Z. Chaoui, "Adaptive semi-active suspension of quarter-vehicle with magnetorheological damper," Journal of Dynamic Systems, Measurement, and Control, vol. 137, no. 2, 2015.