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http://dx.doi.org/10.3795/KSME-A.2017.41.7.599

Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability  

Hong, Hyosung (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Han, Jong-Boo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Song, Hajun (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Jung, Samuel (Dept. of Mechanical Engineering, Pusan Nat'l Univ.)
Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Yoo, Wan Suk (Dept. of Mechanical Engineering, Pusan Nat'l Univ.)
Won, Mooncheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Joo, Sanghyun (The 5th R&D Institute, Agency for Defense Development)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.41, no.7, 2017 , pp. 599-605 More about this Journal
Abstract
For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.
Keywords
Unmanned Ground Vehicle; Skid Steer; Path Tracking Control; ADAMS; Multi Body Dynamics; Traversability;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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