• Title/Summary/Keyword: real time traversability

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A Dynamic Modeling of 6×6 Skid Type Vehicle for Real Time Traversability Analysis over Curved Driving Path (곡선주행 실시간 주행성 분석을 위한 스키드 차량의 동역학 모델링)

  • Joo, Sang-Hyun;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.4
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    • pp.359-364
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    • 2012
  • Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

A High-Speed Autonomous Navigation Based on Real Time Traversability for 6×6 Skid Vehicle (실시간 주행성 분석에 기반한 6×6 스키드 차량의 야지 고속 자율주행 방법)

  • Joo, Sang-Hyun;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.3
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    • pp.251-257
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    • 2012
  • 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.

Development of a Traversability Map for Safe Navigation of Autonomous Mobile Robots (자율이동로봇의 안전주행을 위한 주행성 맵 작성)

  • Jin, Gang-Gyoo
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.4
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    • pp.449-455
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    • 2014
  • This paper presents a method for developing a TM (Traversability Map) from a DTM (Digital Terrain Model) collected by remote sensors of autonomous mobile robots. Such a map can be used to plan traversable paths and estimate navigation speed quantitatively in real time for robots capable of performing autonomous tasks over rough terrain environments. The proposed method consists of three parts: a DTM partition module which divides the DTM into equally spaced patches, a terrain information module which extracts the slope and roughness of the partitioned patches using the curve fitting and the fractal-based triangular prism method, and a traversability analysis module which assesses traversability incorporating with extracted terrain information and fuzzy inference to construct a TM. The potential of the proposed method is validated via simulation works over a set of fractal DTMs.

Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability (실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어)

  • Hong, Hyosung;Han, Jong-Boo;Song, Hajun;Jung, Samuel;Kim, Sung-Soo;Yoo, Wan Suk;Won, Mooncheol;Joo, Sanghyun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.7
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    • pp.599-605
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    • 2017
  • For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.