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Design and Development of a Variable Configuration Delivery Robot Platform
김민극,최동일 한국정밀공학회 2019 International Journal of Precision Engineering and Vol.20 No.10
In this paper, we introduce a variable configuration delivery robot platform named HuboQ. HuboQ is a wheeled mobile platform with 6-DOF manipulator and is the next version of KDMR-1, our previous robot platform. The design of mechanical and electrical systems and the development of overall system are described to illustrate how HuboQ is structured and improved. The variable configuration can overcome the disadvantages of using only one configuration. There are three variable configurations at HuboQ, four-wheel ZMP control configuration, two-wheel self-balancing configuration and two-wheel human-riding configuration. HuboQ can be used as an autonomous delivery robot and also as a human transporter. Experiments have demonstrated dynamic driving performances of the ZMP control and of two-wheel balancing control.
육-공 협력 임무 수행을 위한 지상 무인이동 전기차 개발
김민극,유승진,김지철,이근호 대한기계학회 2019 大韓機械學會論文集A Vol.43 No.11
Recently, development of an unmanned vehicle capable of performing mission has been actively carried out. Especially, interest and development of unmanned aerial vehicle (UAV) are growing rapidly. When unmanned ground vehicle (UGV) and UAV cooperate and perform their duties, they complement each other's disadvantages and can be put into various tasks. Since the autonomously driven UGV requires a lot of computation, it is necessary to develop the driving controller and the mission controller separately to perform autonomous driving and mission management at the same time. In this paper, we have developed an autonomously drivable electric car to carry out cooperative mission with UAV, an efficient algorithm that can generate local paths to avoid obstacles while performing communication and sensor processing by improving the potential field algorithm, and the HW and SW of the mission controller which receives the command from the ground control station, manages the mission, and performs the path following control by using the real-time controllable property. 최근 무인으로 임무를 수행할 수 있는 이동체에 대한 개발이 활발하게 이루어지고 있으며, 특히 UAV(Unmanned Aerial Vehicle)에 대한 활용이 빠르게 증가하고 있다. UGV(Unmanned Ground Vehicle)와 UAV가 협력하여 임무를 수행하면 서로의 단점을 보완하여 다양한 임무에 투입될 수 있다. UGV의 주행에는 많은 연산이 필요하기 때문에, 임무 관리와 동시에 수행하기 위해서는 자율주행 제어기와 임무 제어기를 분리하여 개발할 필요가 있다. 본 논문에서는 UAV와 UGV가 함께 임무를 수행하기 위해, 전기차를 장착형 제어 모듈을 통해 자율주행이 가능하도록 개조하였고, 장애물 회피를 위한 potential field 알고리즘을 개선하여 통신과 센서의 처리를 수행하면서도 지역 경로를 생성할 수 있는 효율적 알고리즘을 개발하였으며, 관제소와의 통신을 통해 명령을 받고 임무를 관리하며 실시간성을 활용하여 경로 추종 제어를 수행하는 임무 제어기의 HW와 SW를 개발하였다.