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모바일 로봇의 험지 주행 성능 향상을 위한 기구학 기반 제어 모델 개발
황인상(Insang Hwang),고석진(Sukjin Ko),김명규(Myeongkyu Kim),신영광(Youngkwang Shin),이동훈(Donghun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper describes a new kinematic model to improve the trajectory tracking performance of a four-track mobile robot with a passively articulated suspension. The mobile robot is composed of four tracks, two rockers, 2-DOF pitch-roll joints, a differential gear, and a main body. Due to the difficulties in the explicit identification of wheel-terrain contact angles through elevation map or GPS information, tiltable driving tracks are combined with suspension kinematics to identify track-terrain contact angles for the proposed mobile robot in arbitrarily rough terrains. That is, the TTCA-based driving velocity projection method is proposed in this study to improve the maneuverability of the proposed mobile robot in arbitrarily rough terrains. Virtual ground with a sinusoidal shape is modeled in the DAFUL-Simulink co-simulator framework to examine the improvement in the proposed mobile robot relative to a non-suspension version of a four-track mobile robot. The results indicate that the proposed mobile robot has a 33.3% lower RMS distance error, 56.3% lower RMS directional error, and 43.2% lower RMS offset error than the four-track SSMR, even with planar SSMR kinematics. And the results show that PASTRo with the TTCA-based driving velocity projection method has a 39.2% lower RMS distance error, 57.9% lower RMS directional error, and 51.9% lower RMS offset error than the four-track SSMR.