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이영일,이호주,지태영,Lee, Young-Il,Lee, Ho-Joo,Jee, Tae-Young 한국군사과학기술학회 2009 한국군사과학기술학회지 Vol.12 No.5
One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.
전복 방지를 위한 소형 무인주행로봇의 자세 안정화 알고리즘
고두열,김영국,이상훈,지태영,김경수,김수현,Koh, Doo-Yeol,Kim, Young-Kook,Lee, Sang-Hoon,Jee, Tae-Young,Kim, Kyung-Soo,Kim, Soo-Hyun 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.6
Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.
$6{\times}6$ 가변 현수형 무인차량의 주행 분석 및 제어에 관한 연구
강신천,허진욱,이상훈,지태영,Kang, Sin-Cheon,Huh, Jin-Wook,Lee, Sang-Hoon,Jee, Tae-Young 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.5
Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control.