| 제목 |
대상 추종 트럭을 위한 단층 레이저 스캐너를 이용하는 펄스 신호 기반 단일 조향 및 구동 제어 알고리즘 개발 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
김세환(한경대학교), 김학주(한경대학교), 장문정(한경대학교), 오세찬(한경대학교), 오광석(한경대학교) |
| Key Words |
Single-layer laser scanner(단층 레이저 스캐너), Steering and driving(조향 및 구동), Object tracking(대상 추종), Pulse signal(펄스 신호), In-wheel motor(인휠-모터), Step motor(스텝 모터) |
| 초록 |
In this paper, we propose a single-based steering and a pulse-signal-based driving control using a single-layer laser scanner for object tracking. An in-wheel motor was used for driving, and a step motor was used for steering. After deriving the point cloud of the object tracking using a single laser scanner, the representative points were derived from clustering. The desired steering angle was derived by using the LQR optimal control theory. The desired steering angle was reached by using the pulse based proportional control signal. Pulse signals were applied to the in-wheel motor to control the driving by using the driving threshold, and constant pulse width modulatio (PWM) was applied to control the speed. Performance evaluation was carried out with an actual object tracking truck in two scenarios: J-turning path tracking and S-curve path tracking. |
| 원문(PDF) |
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