후륜 독립 구동 인 휠 모터의 능동적 조향각 생성을 통한 2WS/2WD In-Wheel 플랫폼의 최소회전 반경 감소Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor
- Other Titles
- Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor
- Authors
- 김태현; 황대규; 김봉상; 이성희; 문희창
- Issue Date
- Aug-2023
- Publisher
- 한국로봇학회
- Keywords
- In-Wheel Motor; Minimum Turning Radius; Tire Slip Angle; GPS
- Citation
- 로봇학회 논문지, v.18, no.3, pp.299 - 307
- Journal Title
- 로봇학회 논문지
- Volume
- 18
- Number
- 3
- Start Page
- 299
- End Page
- 307
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31626
- ISSN
- 1975-6291
- Abstract
- In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.