4륜 독립구동형 농업용 플랫폼의 주행 궤적 추종 성능 향상을 위한 휠 슬립 검출 및 보상제어 알고리즘 연구Slip Detection and Control Algorithm to Improve Path Tracking Performance of Four-Wheel Independently Actuated Farming Platform
- Other Titles
- Slip Detection and Control Algorithm to Improve Path Tracking Performance of Four-Wheel Independently Actuated Farming Platform
- Authors
- 김봉상; 조성우; 문희창
- Issue Date
- 2020
- Publisher
- 한국로봇학회
- Keywords
- Agricultural Robotics; Stable Platform Driving; Autonomous Driving
- Citation
- 로봇학회 논문지, v.15, no.3, pp.221 - 232
- Journal Title
- 로봇학회 논문지
- Volume
- 15
- Number
- 3
- Start Page
- 221
- End Page
- 232
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/12194
- DOI
- 10.7746/jkros.2020.15.3.221
- ISSN
- 1975-6291
- Abstract
- In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel’s motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform’s target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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