NDLI: Adaptive driving mode control of mobile platform with wheel-track hybrid type for rough terrain in the civil environment

Content Provider	IEEE Xplore Digital Library
Author	Yoon-Gu Kim Jeong-Hwan Kwak Jinwook Kim Jinung An Ki-Dong Lee
Copyright Year	2010
Description	Author affiliation: Daegu Gyeongbuk Institute of Science & Technology, Daegu, Korea (Yoon-Gu Kim; Jeong-Hwan Kwak; Jinwook Kim; Jinung An) \|\| Department of Computer Engineering, Yeungnam University, Gyeongsan, Korea (Ki-Dong Lee)
Abstract	Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.
Starting Page	86
Ending Page	90
File Size	1646869
Page Count	5
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Transformable track Wheel-track hybrid Navigation Wheels Robot sensing systems Mobile communication Angle of attack Mobile robots Adaptive driving mode
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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