Browse > Article

Obstacle Detection and Driving Mode Control for a Mobile Robot with Variable Single-tracked Mechanism  

Choi, Keun-Ha (한국과학기술원 기계항공시스템학부 기계공학)
Jeong, Hae-Kwan (한국과학기술원 기계항공시스템학부 기계공학)
Hyun, Kyung-Hak (한국과학기술원 기계항공시스템학부 기계공학)
Kwak, Yoon-Keun (한국과학기술원 기계항공시스템학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.2, 2008 , pp. 65-71 More about this Journal
Abstract
In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.
Keywords
Mobile Robot; Obstacle Detection; Attack Angle; Driving Mode Control;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Martens, J. D. and Newman, W. S., 'Stabilization of a Mobile robot Climbing Stairs,' Proceeding of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2501-2507, 1994
2 Roland, S., 'Introduction to Autonomous Mobile Robots,' The MIT Press, pp. 89-117, 2004
3 Hagen, S. and Mutschler, E., 'Pandora: Autonomous Urban Robotic Reconnaissance System,' IEEE Int. Conf. on Robotics and Automation(ICRA '99), Vol. 3, pp. 2315-2321, 1999
4 Manduchi, R., 'Obstacle Detection and Terrain Classification for Autonomous Off-Road Navigation,' Autonomous Robots 18, pp. 81-102, 2005
5 Xiong, Y. and Matties, L., 'Vision-Guided Autonomous Stairs Climbing,' IEEE International Conference on Robotics and Automation, pp. 1842-1847, 2001
6 Choi, K. H., Jeong, H. K., Choi, J. H., Choi, H. D. and Kwak, Y. K., 'Obstacle Detection and Overcoming for Mobile Robot with Variable Geometry Single-tracked Mechanism,' KIMST, pp. 1017-1020, 2006
7 Lee, C. H. and Kwak, Y. K., 'Double-track Mobile Robot For Hazardous Environment Applications,' Advanced Robotics, Vol. 17, No. 5, pp. 447-459, 2003   DOI   ScienceOn
8 Thierry, P., 'A Probabilistic Framework to Monitor a Multi-Mode Outdoor Robot,' ICIRS, pp. 2103-2108, 2005
9 Lim, S. K., Park, D. I., Kim, B. S., Jeon, S. W. and Kwak, Y. K., 'Variable Geometry Single-Tracked Mechanism for a Rescue Robot,' Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, pp.111-115, 2005
10 Park, D. I., 'Design and Analysis of Variable Geometry Single-Track Mechanism for Climbing Stairs,' Ph.D. Thesis, KAIST, pp. 23-45, 2005
11 Choi, K. H., Jeong, H. K. and Kwak, Y. K., 'Obstacle Detection and Driving Mode Decision for a Rescue Robot using a PSD Sensor,' Proceedings of the KSME Fall Annual Meeting, pp. 680-685, 2006