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강현석(Hyun-Suk Kang),곽윤근(Yoon Keun Kwak),최현도(Hyun-Do Choi),정해관(Hae-Kwan Jeong),김수현(Soo-Hyun Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.10
When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the travers abilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm’s feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed, And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.
각가속도 변화에 의해 탐지된 슬립에 기반한 주행로봇의 견인력 제어
최현도(Hyun Do Choi),우춘규(Chun Kyu Woo),강현석(Hyun Suk Kang),김수현(Soohyun Kim),곽윤근(Yoon Keun Kwak) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
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.
장애물 극복이 가능한 구조로봇의 주행모드 변형을 위한 PI-based Feedforward 제어
정해관(Hae Kwan Jeong),강현석(Hyun Suk Kang),곽윤근(Yoon Keun Kwak) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.5
This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.