| Posture Stabilization Algorithm of A Small Unmanned Ground Vehicle for Turnover Prevention |
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Doo-Yeol Koh, Young-Kook Kim, Sang-Hoon Lee, Tae-Young Jee, Kyung-Soo Kim, Soo-Hyun Kim |
1KAIST
2 |
| 전복 방지를 위한 소형 무인주행로봇의 자세 안정화 알고리즘 |
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고두열, 김영국, 이상훈, 지태영, 김경수, 김수현 |
1한국과학기술원
2국방과학연구소 5기술 2부 |
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| Abstract |
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Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV. |
| Key Words:
SUGV, Posture Stabilization, Turnover Prevention, Potential Field, Optimization |
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