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고속 자율 주행 차량의 고자유도 모델 기반 조향제어 알고리즘 개발
이승환(Seunghwan Lee),임승국(Seungkuk Lim),소민우(Minwoo Sho),권재준(Jaejoon Kwon),홍태욱(Taewook Hong),박기홍(Kihong Park) 한국자동차공학회 2013 한국자동차공학회 학술대회 및 전시회 Vol.2013 No.11
This paper is study of steering control for path tracking of autonomous vehicle. One of the core technologies of autonomous vehicle is steering control technology for accurate path tracking. Conventional steering control algorithms have been applied for controlling the low-speed driving. Steering control on the low-speed driving is possible by using the 2-D.O.F. model. To prepare for a variety of driving conditions, steering control algorithms for high-speed driving should be developed. But, cornering stiffness and lateral load transfer by roll should be considered for controlling the high-speed driving. In order to reflect these factors for controlling the high-speed driving, the steering control algorithm based on nonlinear 3-D.O.F. model should be developed. For verifying the developed algorithm, developed steering control algorithm based on nonlinear 3-D.O.F. was compared with conventional steering control algorithm.
Robot Operating System 기반 고속 자율주행 모바일 로봇의 개선된 벽면추종 주행방식
한승한,최용래,양재필,황형준,김기훈,신주혜,장동영,심동하 한국생산제조학회 2019 한국생산제조학회지 Vol.28 No.3
This study demonstrates an -based high-speed autonomous mobile robot using an improved wall-following driving algorithm. The right triangular method is a popular wall-following technique. However, it cannot provide a sufficiently fast response for the abrupt change in wall direction at a corner, resulting in crashes. Therefore, a mixed-mode method is proposed by using the triangle bisection method at a corner to achieve high-speed cornering. The autonomous robot detects a corner using a corner recognition algorithm. The implemented robot employs ROS for system operations and LIDAR sensor to scan wall faces. The maximum measured speed around corners is 2.8 m/s (10.1 km/h), which is 75% higher than that of the triangular method. The robot passes through a right angle corner without crashing at a maximum speed of 1.8 m/s (6.5 km/h). The implemented robot platform and algorithm can be applied and expanded for the development of high-speed autonomous mobile robots.