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  • Title/Summary/Keyword: Wheel mobile robot

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Development of Mobile Robot for Rough Terrain (야지 주행을 위한 견마형 로봇 개발)

  • Lee, Ji-Hong;Shim, Hyung-Won;Jo, Kyoung-Hwan;Hong, Ji-Mi;Kim, Jung-Bae;Kim, Sung-Hun
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.9
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    • pp.883-895
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    • 2007
  • In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

신경회로망을 이용한 이동로보트의 위치 추정에 관한 연구

  • 김재희;조형석
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.10a
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    • pp.214-219
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    • 2001
  • For navigation of a mobile robot, it is one of the essential tasks of find out its current position. Dead reckoning is the most frequently used method to estimate its position. However conventional dead reckoner is prone to give us false information on the robot position especially when the wheels are slipping. This paper proposes an improved dead reckoning scheme using neural networks. The network detects the instance of wheel slipping and estimates the linear velocity of the wheel ; thus it calculates current position and heading angel of a mobile robot. The structure and variables of the neural network are chosen based on the analysis of slip motion robot. The structure and variables of the neural network are chosen based on the analysis of slip motion characteristics. A series of experiments are performed to investigate the performance of the improved dead reckoning system.

A mobile robot for going over obstacles in nuclear facilities (원전시설용 이동로보트의 장애물 승월에 관한 연구)

  • 김병수;김창희;김승호;이종민
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.166-171
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    • 1989
  • In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

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Full Dynamic Model in the Loop Simulation for Path Tracking Control of a 6×6 Mobile Robot (6×6 이동로봇의 경로추종을 위한 동역학 시뮬레이션)

  • Huh, Jin-Wook
    • Journal of the Korea Institute of Military Science and Technology
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    • v.11 no.4
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    • pp.141-148
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    • 2008
  • In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

Mixed H2/H Control of Two-wheel Mobile Robot

  • Roh, Chi-Won;Lee, Ja-Sung;Lee, Kwang-Won
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.438-443
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    • 2003
  • In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed H2/H control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain K2 minimizing the H2 norm and the state feedback gain K minimizing the H norm over the whole range of parameter uncertainty. Finally, we select mixed H2/H state feedback controller K as the geometric mean of K2 and K. Simulation results show that the mixed H2/H state feedback controller combines the effects of the optimal H2 state feedback controller and robust H controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

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Experimental Studies of a Time-delayed Controller for Balancing Control of a Two-wheel Mobile Robot (이륜 이동로봇의 균형 제어를 위한 시간지연 제어기의 실험 연구)

  • Cho, Sung Taek;Jung, Seul
    • Journal of the Korean Institute of Intelligent Systems
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    • v.26 no.1
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    • pp.23-29
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    • 2016
  • This paper presents balancing control of a two-wheel mobile robot (TWMR). TWMR is aimed to maintain balance while moving. Although TWMR can be controlled by linear controllers such as PD controller, time-delayed controller is employed for robustness. Performances of PD controllers and time-delayed controllers are compared. Especially, experimental studies on different acceleration estimation for the time-delayed controller are conducted. Performances by different acceleration estimations of the balancing angle, of the position, and of both angle and position are compared empirically.

Traction Control of Mobile Robot Based on Slippage Detection by Angular Acceleration Change (각가속도 변화에 의해 탐지된 슬립에 기반한 주행로봇의 견인력 제어)

  • Choi, Hyun-Do;Woo, Chun-Kyu;Kang, Hyun-Suk;Kim, Soo-Hyun;Kwak, Yoon-Keun
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.2
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    • pp.184-191
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    • 2009
  • The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

A Kalman Filter Localization Method for Mobile Robots

  • Kwon, Sang-Joo;Yang, Kwang-Woong;Park, Sang-Deok;Ryuh, Young-Sun
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.973-978
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    • 2005
  • In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

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Design and Experiment of Automatic Painting Robot Using Permanent Magnet Mobile Robot in Ship Cargo Tank (자석대차를 이용한 화물창 내 자동 도장로봇에 대한 연구)

  • Han, Seung-Chul;Kim, Jin-Ho;Kim, Je-Hoon;Lee, Sung-Kyu
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.12 no.12
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    • pp.5450-5456
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    • 2011
  • In order to build a ship, painting on ship cargo tank is one of the most dangerous parts as it involves working in high altitudes and a closed ship cargo tank. Therefore, researchers have been developing devices that will enable mobile robots to operate on vertical walls. The wall-climbing robots have been widely used to attach on the wall such as suction types. These types can be utilized regardless of the wall material. However, it is required to adhere and control the suction cups. To moderate this drawbacks, this paper proposes an automatic painting robot that uses a permanent magnet mobile robot. Using the magnetic characteristics, this robot can move on the boat vertically and horizontally even while hanging on the ceiling of the ship cargo tank. Also, we made a prototype to test adhesive force of the permanent magnet wheel and mobile robot as well as the towing capacity and auto-piloting ability.

Programming Toolkit for Localization and Simulation of a Mobile Robot (이동 로봇 위치 추정 및 시뮬레이션 프로그래밍 툴킷)

  • Jeong, Seok Ki;Kim, Tae Gyun;Ko, Nak Yong
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.4
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    • pp.332-340
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    • 2013
  • This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.