험지에서의 가변 휠형 무인 자율차량의 자세 제어를 위한 가변 휠의 형상 계획

다국어 초록 (Multilingual Abstract)

Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. Solutions of Vehicle Configuration
• 3. Lower Level Behavior Planning
• 4. Simulation and Results
• 5. Summary and Conclusions
• 후기
• 참고문헌

참고문헌 (Reference)

1 Grand, C., "Stability and Traction Optimization of a Reconfigurable Wheel-Legged Robot" 23 (23): 1041-1058, 2004

2 Kemurdjian, A., "Small Marsokhod Configuration" 1992

3 Farritor, S., "Physics-Based Planning for Planetary Exploration" 1998

4 Lauria, M., "OCTOPUS: An Autonomous Wheeled Climbing Robot" 2002

5 Chin, K., "Mobile Robot for Uneven Terrain" 2002

6 Siegwart, R., "Innovative Design for Wheeled Locomotion in Rough Terrain" 40 (40): 151-162, 2002

7 Farritor, S., "Genetic Planning Method and Its Application to Planetary Exploration" 124 (124): 698-701, 2002

8 Tunstel, E., "Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers" 1999

9 Hollerbach, J. M., "Deducing Planning Variables from Experimental Arm Trajectories: Pitfalls and Possibilities" 56 (56): 279-292, 1987

10 Iagnemma, K., "Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain" 14 (14): 54-16, 2003

11 Dornhege, C., "Behavior Maps for Online Planning of Obstacle Negotiation and Climbing on Rough Terrain" 2007