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http://dx.doi.org/10.3795/KSME-A.2009.33.8.832

Estimation Model of Contact Wheels for UGV with Actively Articulated Suspensions  

Lim, Kyeong-Bin (한국과학기술원 기계공학과)
Kim, Sun-Je (한국과학기술원 기계공학과)
Park, Suk-Hoon (한국과학기술원 기계공학과)
Yoon, Yong-San (한국과학기술원 기계공학과)
Lee, Sang-Hoon (국방과학연구소 5기술 2부)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.33, no.8, 2009 , pp. 832-841 More about this Journal
Abstract
Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index $I_{WTC}$ and $I_{ATC}$ were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. $I_{WTC}$ model and $I_{ATC}$ model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.
Keywords
UGV; Actively Articulated Suspension; Contact Wheel; Fuzzy Rule-based Model;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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