The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor

후륜 독립 구동 인 휠 모터의 능동적 조향각 생성을 통한 2WS/2WD In-Wheel 플랫폼의 최소회전 반경 감소

  • Taehyun Kim (Autonomous Vehicle.Intelligent Robotics Program, Hongik University) ;
  • Daekyu Hwang (Autonomous Vehicle & Intelligent Robotics Program, Hongik University) ;
  • Bongsang Kim (Autonomous Vehicle & Intelligent Robotics Program, Hongik University) ;
  • Seonghee Lee (Hanwha Systems Co., Ltd.) ;
  • Heechang Moon (Mechanical & System Design Engineering, Hongik University)
  • Received : 2023.06.07
  • Accepted : 2023.07.26
  • Published : 2023.08.31
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Abstract

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

Keywords

Acknowledgement

This work was supported by Korea Research Institute for defense Technology planning and advancement (KRIT) grant funded by the Korea government (DAPA (Defense Acquisition Program Administration)) ( No. KRIT-CT-21-009, Development of Realtime Automatic Mission Execution and Correction Technology based on Battlefield Information, 2022)

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