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Development of User-Designated-Path Driving Ground Rover for Construction Site Monitoring
Ricardo Ortiz(리카르도 도티즈),Jee Won Lee(이지원),Jonathan Boyack(조나단 보약),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Construction workers are more likely of suffering injuries from work than other employees from other regular activities. Consequently, developing an unmanned mobile monitoring system became a crucial task for researchers and practitioners to secure human safety as well as construction assets. To achieve constant surveillance, the mobile system needs to be operated with a detailed and pre-determined path plan. However, construction sites do not always have routes registered on maps, hindering human exclusion in such operations. This work is to develop a user-designatedpath driving ground rover on construction sites. The developed system first allows the rover to receive a user’s designated path drawn on a map and then operate by following the guided path. A sliding mode controller was designed to capture the motion of a regular vehicle whose real-time displacement and velocity were measured with RTK-GPS device equipped on the rover. This work is successfully validated with a simulation showing the controller following the path with a guided velocity.
Development of User-Designated-Path Driving Ground Rover for Construction Site Monitoring
Ricardo Ortiz(리카르도 도티즈),Jee Won Lee(이지원),Jonathan Boyack(조나단 보약),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Construction workers are more likely of suffering injuries from work than other employees from other regular activities. Consequently, developing an unmanned mobile monitoring system became a crucial task for researchers and practitioners to secure human safety as well as construction assets. To achieve constant surveillance, the mobile system needs to be operated with a detailed and pre-determined path plan. However, construction sites do not always have routes registered on maps, hindering human exclusion in such operations. This work is to develop a user-designatedpath driving ground rover on construction sites. The developed system first allows the rover to receive a user’s designated path drawn on a map and then operate by following the guided path. A sliding mode controller was designed to capture the motion of a regular vehicle whose real-time displacement and velocity were measured with RTK-GPS device equipped on the rover. This work is successfully validated with a simulation showing the controller following the path with a guided velocity.