콘텐츠 본문
논문 국내 국제전문학술지(SCI급) Development of Six-wheeled Small Mobile Robot Platform and Slip Ratio Estimation
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2021-03
- 저자명 오세웅,ALI HUSSEIN FOUAD MOHAMED,김수진, 김영식
- 학술지명 Transactions of the Korean Society of Mechanical Engineers, A
- 발행처명 Korean Society of Mechanical Engineers
- 발행국가 국내
- 논문언어 한국어
- 전체저자수 4
논문 초록 (Abstract)
In this study, a six-wheeled small mobile robot platform for rough terrain is developed. Speeds, accelerations, and slip ratios of the robot are estimated. We analyzed a vehicle with an articulated suspension (RVAS: Robot vehicle with articulated suspension) for actual rough terrain. We then design a small RVAS mobile robot by reducing the scale. The mobile robot is modeled and fabricated by using 3D printing technique. Considering physical limitations of small mobile robots and available sensors, one microcontroller, six hall sensor encoders, and one IMU sensor are used. A Kalman filter-based estimator is also used to remove noise from the acquired data and improve estimation of the robot states. The slip rate of each wheel is experimentally estimated by using the angular velocity of each wheel and the linear velocity of the robot acquired from the IMU sensor.
