슬립예측을 통한 트랙로봇의 경로제어 알고리듬에 관한 연구

Abstract

This paper proposes the path tracking controller of tracked robot via a slip estimation. To test performance of a proposed algorithm, lab test-bed is composed of ultrasonic positioning system(UPS), ground tracked robot models, and digital camera based motion capture system is set up. The track slip is generated by contact between ground and track is estimated from the encoder with track motor and ground speed of robot. For path following of robot, the pure pursuit algorithm which produces a circular path passing the target point and the central point of robot, is introduced. To keep the predefined circular path, a track velocity controller considered the estimated slip is proposed. Finally, the performance of the proposed controller is evaluated by the experiences using ground robot model in lab test-bed and the pilot mining robot, MineRo in inshore.amera based motion capture system is set up. The track slip is generated by contact between ground and track is estimated from the encoder with track motor and ground speed of robot. For path following of robot, the pure pursuit algorithm which produces a circular path passing the target point and the central point of robot, is introduced. To keep the predefined circular path, a track velocity controller considered the estimated slip is proposed. Finally, the performance of the proposed controller is evaluated by the experiences using ground robot model in lab test-bed and the pilot mining robot, MineRo in inshore.