DOI QR코드

DOI QR Code

이중 주차된 차량 이동용 전방향 이동 로봇에 대한 연구

A Study on an Omni-directional Mobile Robot for Moving a Double-parked Car

  • Yoon, Kyung Su (Top Engineering Co.) ;
  • Lee, Myung Sub (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Sung, Yount Whee (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 투고 : 2017.12.21
  • 심사 : 2018.01.24
  • 발행 : 2018.03.01

초록

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.

키워드

참고문헌

  1. Christian Buhler, Ralf Hoelper, Helmut Hoyer, Wolfram Humann, "Autonomous robot technology for advanced wheelchair and robotic aids for people with disabilities," Robotics and Autonomous Systems, 14 (1995), pp. 213-222 https://doi.org/10.1016/0921-8890(95)00030-J
  2. B.S. Lee, H. S. Yang, "Design of pole climbing robot with mecanum wheel," Journal of the Korean Society for Precision Engineering, pp. 323-324, 2010.
  3. J.J. Kim, H. S. Kim, Y. H. Kim, S. Y. Jung, "Design of a stair cleaning robot using mecanum wheels," ICROS 2013, pp. 441-442, 2013.
  4. YunHimchan, HwangJeonguk, YoonHeesang, ParkTaehyeong, KimGonu, "Auto-Parking System of Omni-directional Robot Using Fuzzy Control," CICS'13, pp. 26-27, 2013.
  5. Y. J. Choi, B. K. Kim, T. Y. Do, J. R. Yoo, "Intention Reading for Operation of a Motorized Skateboard with Mecanum Wheels," ICROS 2013, pp. 110-111, 2013.
  6. A Cheong, MWS Lau, E Foo, J Hedley, Ju Wen Bo, "Development of a Robotic Waiter System," IFAC-PapersOnLine, Volume 49, Issue 21, pp. 681-686, 2016
  7. Dong-Hyuk Jeong, Jong-Han Park, Jin-Il Park, Yong-Tae Kim, "A study on Omni-directional mobile robot for freight transportation," CICS '12, pp. 137-138, 2012.
  8. Tianran Peng, Jun Qian, Bin Zi, Jiakui Liu, Xingwei Wang, "Mechanical Desing and Control System of and Omin-directional Mobile Robot for Material Converying," 9th International Conf. on Digital Enterprise Technology, pp. 412-415, 2016
  9. Muir, P. F., Neuman, C. P., "Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot", In Proceedings of IEEE International Conference on Robotics and Automation, pp. 1172-1178, 1987.
  10. Pakpoom Viboonchaicheep, Akira Shimada, "Position Rectification Control for Mecanum Wheeled Omnidirectional Vehicles," IECON'03, pp. 854-859, 2003
  11. Baeksuk Chu, Gangik Cho, Young Whee Sung, "Position Control Algorithm and Experimental Evaluation of an Omni-directional Mobile Robot", Journal of Korean Society of Manufacturing Technology Engineers, Vol. 24, No. 2, pp.141-147, 2015. https://doi.org/10.7735/ksmte.2015.24.2.141