Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design and Development of Terrain-adaptive and User-friendly Remote Controller for Wheel-Track Hybrid Mobile Robot Platform

휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발

  • Kim, Yoon-Gu (Daegu Gyeongbuk Institute of Science & Technology (DGIST)) ;
  • An, Jin-Ung (Daegu Gyeongbuk Institute of Science & Technology (DGIST)) ;
  • Kwak, Jeong-Hwan (Daegu Gyeongbuk Institute of Science & Technology (DGIST)) ;
  • Moon, Jeon-Il (Daegu Gyeongbuk Institute of Science & Technology (DGIST))
  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

Keywords

References

  1. C.-L. Lai and P.-L. Hsu, "Design the remote control system with the time-delay estimator and the adaptive smith predictor," IEEE Transactions on Industrial Informatics, vol. 6, no. 1, pp. 73-80, Feb. 2010. https://doi.org/10.1109/TII.2009.2037917
  2. J. Kim, B. Choi, S. Park, K. Kim, and S. Ko, "Remote control system using real-time mpeg-4 streaming technology for mobile robot," Proc. of IEEE International Conference on Consumer Electronics, pp. 200-201, Jun. 2002. https://doi.org/10.1109/ICCE.2002.1013991
  3. L. Ngai, W. S. Newman, and V. Liberatore, "An experiment in internet-based, human-assisted robotics," Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 2190-2195, May 2002. https://doi.org/10.1109/ROBOT.2002.1014864
  4. Y. Erol, H. H. Balik, S. Inal, and D. Karabulut, "Safe and secure PIC based remote control application for intelligent home," International Journal of Computer Science and Network Security(IJCSNS), vol. 7 no. 5, pp. 179-182, May 2007.
  5. C. H. Kim, M. S. Kim, and J. J. Lee, "Systemic development of tele-robotic interface for the hot-line maintenance," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 10, no. 12, pp. 1217-1222, Dec. 2004. https://doi.org/10.5302/J.ICROS.2004.10.12.1217
  6. Y.-S. Kim and J.-H. Ryu, "Performance analysis of telerobotic systems with different haptic and video time-delay," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 3, pp. 286-292, Mar. 2010. https://doi.org/10.5302/J.ICROS.2010.16.3.286
  7. M. A. Srinivasan and C. Basdogan, "Haptics in virtual environments: taxonomy, research status and challenges," Comp. Graphics, vol. 21, pp. 393-404, Jul. 1997. https://doi.org/10.1016/S0097-8493(97)00030-7
  8. K. Jeong, J. Kang, G. Lee, S. Lee, Y. Seo, C. Choi, S. Jung, and S. Kim, "Development of a robotic system for searching human victims in disasters," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 13, no. 1, pp. 41-45, Mar. 2007. https://doi.org/10.5302/J.ICROS.2007.13.2.114
  9. W. Lee, S. Kang, M. Kim, and K. Shin, "Rough terrain negotiable mobile platform with passively adaptive doubletracks and its application to rescue missions and EOD missions," ICCAS2005, Jun. 2005.
  10. S. Shen, C. Li, C. Cheng, J. Lu, S. Wang, and P. Lin, "Design of a leg-wheel hybrid mobile platform," Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp. 4682-4687, Oct. 2009. https://doi.org/10.1109/IROS.2009.5353958
  11. K. H. Choi, H. K. Jeong, K. H. Hyun, and Y. K. Kwak, "Obstacle negotiation for the rescue robot with variable singletracked mechanism," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 13, no. 12, pp. 1222-1229, Dec. 2007. https://doi.org/10.5302/J.ICROS.2007.13.12.1222
  12. Hokuyo Laser-Range Finder, URG-04LX, http://www.hokuyoaut.jp/02sensor/07scanner/urg_04lx.html