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

  • 제18권3호
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  • Pages.251-257
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
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실시간 주행성 분석에 기반한 6×6 스키드 차량의 야지 고속 자율주행 방법

A High-Speed Autonomous Navigation Based on Real Time Traversability for 6×6 Skid Vehicle

  • 주상현 (국방과학연구소 무인자율화 부) ;
  • 이지홍 (충남대학교 메카트로닉스 공학과)
  • 투고 : 2011.12.30
  • 심사 : 2012.01.25
  • 발행 : 2012.03.01
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초록

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

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참고문헌

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피인용 문헌

  1. Design and Performance Evaluation of a Rotary Magnetorheological Damper for Unmanned Vehicle Suspension Systems vol.2013, pp.1537-744X, 2013, https://doi.org/10.1155/2013/894016
  2. Real-Time Prediction of Optimal Control Parameters for Mobile Robots based on Estimated Strength of Ground Surface vol.20, pp.1, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1921
  3. Development of a Traversability Map for Safe Navigation of Autonomous Mobile Robots vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1967