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Adaptive driving mode control of mobile platform with wheel-track hybrid type for rough terrain in the civil environment

Title
Adaptive driving mode control of mobile platform with wheel-track hybrid type for rough terrain in the civil environment
Authors
Kim, Yoon-GuKwak, Jeong-HwanKwak, Jeong-HwanAn, JinungLee, Ki-Dong
DGIST Authors
Kim, Yoon-Gu; Kwak, Jeong-Hwan; Kwak, Jeong-Hwan; An, Jinung
Issue Date
2010
Citation
International Conference on Control, Automation and Systems, ICCAS 2010, 86-90
Type
Conference
Article Type
Conference Paper
ISBN
9781424474530
Abstract
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment. ©ICROS.
URI
http://hdl.handle.net/20.500.11750/3957
Publisher
Institute of Control, Robotics and Systems
Related Researcher
Files:
There are no files associated with this item.
Collection:
Division of IoT∙Robotics Convergence Research2. Conference Papers
Information and Communication EngineeringInfoLab2. Conference Papers


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