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차량 동역학을 고려한 무인 주행 차량의 경로 추종 및 장애물 회피 혼합 기법 개발
김동형(Donghyung Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper presents a novel method that integrates the path tracking and the obstacle avoidance for UGV(Unmanned Ground Vehicle). Generally, for a safety and an ease control, UGV is used to runs slowly during the autonomous navigation. But if we want to run UGV fast, the vehicle dynamics should be considered. In this research, by using the bicycle model for the vehicle, the integrated method is applied to that model. For waypoints navigation, the pure pursuit path tracking is used. And this method is integrated with the obstacle avoidance method. The integrated method uses the obstacle potential that keeps UGV away from the obstacles while it follows the waypoints. The proposed method is tested on the simulation with several waypoints and obstacles showing that UGV is able to follow the path with obstacles.
인-휠 전륜 구동 전기자동차를 위한 선회 운동제어에 관한 연구
김상호(Sangho Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김동형(Donghyung Kim),백성훈(Sunghoon Back),한창수(Changsoo Han) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
This paper proposes the control algorithm for a front wheel drive electric vehicle with in-wheel electric motor. This control algorithm is developed to improve the lateral vehicle dynamic motion. Driving Control algorithm for controlling the lateral movement of the vehicle consists of the direct yaw moment control algorithm and torque distribution algorithm. The direct yaw moment control algorithm determines the desired yaw moment for neutral steering performance and calculates the desired longitudinal force for longitudinal drive. Torque distribution algorithm defines the desired wheel torque on the left and right wheel from the desired yaw moment, desired longitudinal force and tire forces. The proposed control algorithm is simulated using CarSim software. The performance is verified by comparing the trajectory results and yaw rate results of a vehicle model with and without this control algorithm.
임동환(Dong Hwan Lim),김완수(Wan Soo Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),한창수(Chang Soo Han) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.12
This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.