• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.4
• /
• pp.353-360
• /
• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.134.6-134
• /
• 2001

The purpose of navigation algorithm is to reach a given target point without collision with obstacles while an autonomous mobile robot is navigating. To achieve a safe navigation, this paper presents an effective navigation algorithm for the autonomous mobile robot equipped with ultrasonic sensors in unknown environments. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The decision maker using fuzzy inference systems weights the steering angles selected ...

• Journal of the Ergonomics Society of Korea
• /
• v.28 no.2
• /
• pp.9-16
• /
• 2009

The aim of this study was to evaluate the effects of the driving performance and workload according to changing driving environment and types of steering wheel. Twelve drivers who participated in this study consisted of two groups; six Japanese as the left-lane drivers who was accustomed to driving on left-hand side of the road, and six Europeans, Americans, and Korean as the right-lane drivers who was accustomed to driving on right-hand side of the road. They were asked to operate a driving simulator while using two different types of steering wheel (for the left-hand side driving and the right-hand side driving). During the experiment, a range of data were measured including driving performance, mental workload, and eye movements which were recorded in order to identify the amount of time looking towards the in-vehicle route guidance. Results indicated that the use of the steering wheel by parallel moving led to increase high attentional demand and worse glance behavior to traffic signs for the left-lane drivers. In the case of the right-lane drivers, the effects by changing driving direction were more effective than the types of steering wheel due to their habit or traits.

• Journal of Biosystems Engineering
• /
• v.16 no.4
• /
• pp.346-354
• /
• 1991

Turning behavior of tractor-trailer system was studied to guide the tractor and trailer. Based upon kinematic relationship between the tractor and the trailer, a mathematical model was developed and analyzed by computer simulation. A field test was carried out to verify the mathematical model. Following conclusions were drawn from this study. 1. A mathematical model and a simulation program for turning behavior of tractor-trailer system were developed. 2. The results of the field tests showed that the RMS errors were less than 0.33m and the mathematical model based upon kinematic relationship can be used for mapping guidance system for tractor and trailer. 3. As the steering angle was increased, the turning radius was decreased. When the tractor travelled at the low speed, the travel speed of the tractor did not affect turning radius but did affect running time and stability for steering. 4. When the tractor travelled under the critical velocity, the towed trailer followed smoothly. When the the tractor travelled faster than the critical velocity, the towed trailer oscillated. The critical velocity was determined from the specification of the tractor and the trailer.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.5
• /
• pp.577-585
• /
• 2015

This paper deals with development of an autopilot system for leisure yacht based on NMEA 2000 network and android platform. The developed system can operate both for manual steering and automatic navigation mode. In automatic steering mode, after manipulation of commands which are NMEA 0183 sentences by android platform, the developed system translates and sends the packets through NMEA 2000 network. Then the controller which is connected to NMEA 2000 network receives the commands and controls the boat's rudder system automatically. The automatic steering mode is achieved by cooperation of two controllers; one for controlling the rudder system, and the other for controlling the vessel's heading. To control the vessel's rudder and heading angle two PID controllers are developed with an adjustable dead-band gain. Also, in order to eliminate the steady-state error occurred by applying dead-band, an integral controller which specifically supervises the system's behavior inside the dead-band area is developed. In this paper, at the first stage, simulations are accomplished using computer in order to examine the feasibility of the proposed based on simulation results. In the next step, the system on a real hydraulic steering model is implemented and at the end the performance examination by implementing it on a real boat and doing test navigation is executed.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.19 no.1
• /
• pp.121-127
• /
• 2010

We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.4 no.5
• /
• pp.109-118
• /
• 1996

An analysis of handling characteristics of a vehicle is performed for step and pulse steering input, which may be very useful in suspension design stage. Many developed computer programs for vehicle dynamics require test data of compliance effects for proto type car. Therefore, these programs are not suitable for automobile development stage. Using the raw design data of suspension and steering system, we analyze the vehicle behavior for step and pulse steering input with commercial multibody dynamics program, ADAMS. Simulated results are in good agreement with vehicle test results. Vehicle handling characteristics parameters which are very useful in automobile suspension design are evaluated from the analysis.

• Journal of Power System Engineering
• /
• v.7 no.2
• /
• pp.44-50
• /
• 2003

The power steering hose is a kind of high-pressure hose with reinforced braids in rubber material. It is usually manufactured through the swaging process. In this paper, the deformation characteristics of a power steering hose during the swaging process were analyzed using the nonlinear finite element method. The material properties were obtained on experiments, and the contact conditions were used in consideration of real manufacturing process. Investigations were focused on the stress and strain values of the hose and meta] components at the maximum jaw stroke and at the completion of the process. Especially, the results of inner rubber component were interpreted in detail, because of its important role in the hose efficiency.

• Journal of Biosystems Engineering
• /
• v.15 no.2
• /
• pp.79-87
• /
• 1990

An automatic guidance system based upon two position-measurement systems was designed to record where the tractor traveled and to guide the tractor along the predetermined path. An algorithm, using the kinematic behavior of tractor movement, was developed to determine the steering angle to reduce lateral position error. The algorithm was based upon constant travel speed, constant steering rate, and zero slip angles of the tractor wheels. The algorithm was evaluated through use of computer simulation and verified in field experiments. Results showed that the distance interval between position measurements was an important factor in guidance system performance. The position-measurement error of the guidance system must be less than 5 cm to be acceptably precise for field operations. An algorithm based upon a variable steering rate might improve the stability of the guidance system. More accurate measurement of tractor position and yaw angle, and faster error processing are required to improve the field performance of the guidance system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.2
• /
• pp.181-188
• /
• 2004

The objective of this paper is to numerically examine the mechanical behavior of the swaged power steering(PS) hose subject to internal pressure. PS hose experiences a large internal pressure change in operating, so it's material part has to resist a cyclic expansion and compression without causing oil leakage. This cyclic pressure is intimately associated with fatigue failure of PS hose. In this study, we compare two types of PS hose. The numerical investigation is composed of three steps; swaging analysis, low and high pressure analyses. The comparative numerical results provide the basic data for the optimal PS design.