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휠-트랙 하이브리드 모바일 플랫폼을 위한 지형 적응성 장애물 극복 자세 제어기 개발

Title
휠-트랙 하이브리드 모바일 플랫폼을 위한 지형 적응성 장애물 극복 자세 제어기 개발
Translated Title
Development of Terrain-Adaptive Attitude Controller for Hybrid Mobile Platform with Wheel & Track
Authors
곽정환김윤구홍대한안진웅
DGIST Authors
안진웅
Issue Date
2012-04
Citation
대한임베디드공학회논문지, 7(2), 61-70
Type
Article
Keywords
Adaptive attitude controllerWheel-track hybrid mobile platformTerrain-adaptive
ISSN
1975-5066
Abstract
This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.
URI
http://hdl.handle.net/20.500.11750/4955
Publisher
대한임베디드공학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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