모바일 경계로봇의 시뮬레이션 기반 설계
황기상†․박규진*․김도현*․김성수**․박성호***
Simulation based Design of a Mobile Surveillance Robot
Ki Sang Hwang, Kyu Jin Park, Do Hyun Kim, Sung Soo Kim, Sung Ho Park
Key Words: Mobile Surveillance Robot(모바일 경계 로봇)), Simulation based design(시뮬레이션 기반 설계)
Abstract
An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain.
ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.
1. 서 론
2. 경계로봇 모델링
2.1 CAD modeling
2.2 동역학 모델링
3. 경계로봇 모바일화를 위한 안정화 제어
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3.2 목표물 추적 안정화 알고리즘
3.3.1 Road 모델
3.3.2 주행 시뮬레이션
3.4 모바일 경계로봇의 안정화 시뮬레이션
4. 결론
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후 기
참고문헌
