Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

Parameter Sensitivity Analysis of Autonomous Robot Vehicle for Trajectory Error and Friction Force

자율 주행 반송차의 궤적 오차와 마찰력에 대한 매개 변수의 민감도 해석

  • 김동규 (한국과학기술원 기계공학과) ;
  • 박기환 (광주과학기술원 기전공학과) ;
  • 김수현 (정회원, 한국과학기 술원 기계공학과) ;
  • 곽윤근 (정회원, 한국과학기술원 기계공학과)
  • Published : 1996.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

Keywords

References

  1. Automated Guided Vehicle Systems R. H. Hollier
  2. IEEE, Trans. on Indust. Elect. v.32 no.2 A Mobile Platform for Nursing Robots J. Borenstein;Y. Koren
  3. J. of Dyn. Syst., Meas., and Con. v.109 Motion Control Analysis of a Mobile Robot J. Borenstein;Y. Koren
  4. Proc. of the 1991 IEEE Int. Conf. on Rob & Auto. Motion Planning for a Hospital Transport Robot T. Skewis(et al.)
  5. Rob. & Auto., IEEE Int. Conf. Position and Heading Compensations for a Self-Contained Measuring System of a Vehicle Travelling on Roadway T. Tsumura(et al.)
  6. IEEE, Trans. on Indust. Elect. v.IE-32 no.1 An Automotic Guidence System of a Self-Contained Vehicle T. Hongo(et al.)
  7. Robotica v.9 Mobile Robot Using Ultrasonic Sensor: Study of a Degraded Mode P. Blazevic(et al.)
  8. Proc. of the 1992 IEEE Int. Conf. on Rob. & Auto. Optimal Estimation of Position and Heading for Mobile Robots Using Ultrasonic Beacons and Dead-reckoning L. Kleeman
  9. Proc. of the 1992 IEEE Int. Conf. on Rob. & Auto. Position Estimation for a Mobile Robot Using Vision and Odometry F. Chenavier;James L.Crowley
  10. Proc. of 7th Conf. on Computer Aided Produ. Eng. The Imperial College free ranging automated guided vehicle system Sen, A.(et al.)
  11. IEEE Trans. on Rob. & Auto. v.7 no.2 Blanche-An Experiment in Guidance and Navigation of an Autonomous Robot Vehicle Ingemar J. Cox
  12. J. of Robotics Systems Dynamic Steering Control of Conventionally Steered Mobile Robots Bruce H. Krogh
  13. Proc. of the 1991 IEEE Int. Conf. on Rob. & Auto. Smooth trajectory planning for a car in a structured world Th. Fraichard
  14. J. of Dyn. Syst. Meas. and Con. v.100 Steering Controlled Design for Automated Guideway Transit Vehicles S. E. Shiladover(et al.)
  15. Proc. of the 1991 IEEE Int. Conf. on Rob. & Auto. An Applications of a Back progation Network for the Control of a Tracking Behavior Karsten Berns
  16. The Int. J. of Rob. Research v.12 no.5 Design and Control of an All-Direction Steering Type Mobile Robot A. Koshiyama;K. Yamafuji
  17. Proc. of the 1994 IEEE Int. Conf. on Rob. & Auto. Dynamic Modeling of Wheeled Mobile Robots for High Load Applications F. Demick Boyden;Steven A. Velinsky
  18. IEEE Trans. on Rob. & Auto. v.7 no.2 Dynamic Motion Planning of Autonomous Vehicles Zvi Shiller;Yu-Rwei Gwo
  19. Tranas. fo the AMSE v.111 Evaluation and Time Scaling of Trajectories for Mobile Robots T. J. Graettinger;B. H. Krouh
  20. the 1994 IEEE Int. Conf. on Rob. & Auto. The CLAPPER: A Dual-drive Mobile Robot With Internal Correction of Dead-reckoning Errors J. Borenstein
  21. Int. Conf. on Interlligent Robots and Systems(IROS '94)-Advanced Robotic Systems and the Real World Internal Correction and Dead-reckoning Erros With the Smart Encoder Trailer J. Borenstein
  22. Ph. D. Dissertation, KAIST A Study on the Position Estimation of a Wheeled Mobile Robot Jae. H. Kim
  23. J. of Dyn. Syst., Meas. and Con. v.105 The Application of Sensitivity Analysis to Electrohydraulic Position Control Servos M. J. Vilenius
  24. IEEE Trans. on Syst., Man, and Cybern. v.SMC-14 no.6 Linearization and Sensitivity Functions of Dynamic Robot Models Charles P. Neuman;John J. Murray
  25. Mechanism and Machine Theory v.19 no.2 Computer Assisted Sensitivity Model Generation in Manipulation Robots Dynamics M. Vukobratovic;N. Kircanski
  26. Ph. D. Dissertation, KAIST On the Dynamic Characteristics and Control of Balanced Robotic Manipulators W. K. Chung