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dc.contributor.author 곽정환 ko
dc.contributor.author 김윤구 ko
dc.contributor.author 홍대한 ko
dc.contributor.author 안진웅 ko
dc.date.accessioned 2018-01-25T00:43:15Z -
dc.date.available 2018-01-25T00:43:15Z -
dc.date.created 2018-01-17 -
dc.date.issued 2012-04 -
dc.identifier.citation 대한임베디드공학회논문지, v.7, no.2, pp.61 - 70 -
dc.identifier.issn 1975-5066 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/4955 -
dc.description.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. -
dc.language Korean -
dc.publisher 대한임베디드공학회 -
dc.subject Adaptive attitude controller -
dc.subject Wheel-track hybrid mobile platform -
dc.subject Terrain-adaptive -
dc.title 휠-트랙 하이브리드 모바일 플랫폼을 위한 지형 적응성 장애물 극복 자세 제어기 개발 -
dc.title.alternative Development of Terrain-Adaptive Attitude Controller for Hybrid Mobile Platform with Wheel & Track -
dc.type Article -
dc.type.local Article(Domestic) -
dc.type.rims ART -
dc.description.journalClass 2 -
dc.identifier.kciid ART001656170 -
dc.identifier.citationVolume 7 -
dc.identifier.citationNumber 2 -
dc.identifier.citationStartPage 61 -
dc.identifier.citationEndPage 70 -
dc.identifier.citationTitle 대한임베디드공학회논문지 -
dc.description.isOpenAccess N -
dc.contributor.affiliatedAuthor 안진웅 -
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Appears in Collections:
ETC 1. Journal Articles
Division of Intelligent Robotics Brain Robot Augmented InteractioN(BRAIN) Laboratory 1. Journal Articles

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