가변 휠형 무인자율차량의 접촉휠 예측 모델 Estimation Model of Contact Wheels for UGV with Actively Articulated Suspensions

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 363
  • Download : 0
Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index IWTC and IATC were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. IWTC model and IATC model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.
Publisher
대한기계학회
Issue Date
2009-08
Language
Korean
Citation

대한기계학회논문집 A, v.33, no.8, pp.832 - 841

ISSN
1226-4873
URI
http://hdl.handle.net/10203/99265
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0