지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.1
- 수록면
- 61 - 70 (10page)
이용수
이 논문의 연구 히스토리 (3)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.
목차
등록된 정보가 없습니다.
참고문헌 (10)
참고문헌 신청
/ / http://www.hokuyo-aut.jp/02sensor/07scanner/ urg_04lx.html
/ / http://www.sharpsme.com/it/optoelectronics/sen sors/distance-measuring-sensors/GP2Y0A02YK 0F/
J. Casper / 2003 / Human-Robot Interaction during the Robot-Assisted Urban Search and Rescue Response at the World Trade Center / IEEE Trans. on SMC 33 : 367 ~ 386
S.C. Kang / 2005 / ROBHAZ-rescue: rough-terrain negotiableteleoperated mobile robot for rescue mission / 2005 IEEE International on Safety, Securityand Rescue Robotics Workshop : 1
Z. Li / 2010 / Design and basic experiments of atransformable wheel-track robot withself-adaptive mobile mechanism / Proceedingson IEEE/RSJ International Conference onIntelligent R
S.C. Kang / 2005 / ROBHAZ-rescue: rough-terrain negotiableteleoperated mobile robot for rescue mission / 2005 IEEE International on Safety, Securityand Rescue Robotics Workshop : 1
Z. Li / 2010 / Design and basic experiments of atransformable wheel-track robot withself-adaptive mobile mechanism / Proceedingson IEEE/RSJ International Conference onIntelligent R
이 논문의 저자 정보
최근 본 자료
댓글(0)
0