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삼륜 키네마틱스를 이용한 팔레트 트럭의 모델 예측 경로 제어 연구
박정현(H. Park),손광희(K. H. Shon),김현수(H. S. Kim),최성운(S. W. Choi),이대엽(D. Lee) 유공압건설기계학회 2022 유공압건설기계학회 학술대회논문집 Vol.2022 No.12
Due to a growth of the logistics industry, a decrease in skilled manpower, and an increase in labor costs, the importance of unmanned automation logistics equipment is gradually increasing. In this study, for the purpose of realizing a manual pallet truck as unmanned driving, a predictive path control system using a model using three-wheeled nonholonomic kinematics consisting of one wheel, acting simultaneously as a driving and steering wheel, and two auxiliary wheels was designed and constructed. A rig system acting as a platform to simulate and develop algorithm for the full size equipment was controlled using an embedded controller and driving and steering servo motors. Throughout experiments using the rig as a platform, it was confirmed that model predictive path control was possible along given goal and object coordinates.