차륜형 캐터필러 및 좌석 위치 가변 구조를 갖는 휠체어계단 이동 보조기기의 직진 주행 보정에 관한 연구
A Study on the Correction of Straight Driving of Wheelchair Assistive Device to Move the Stairs with Wheel Type Caterpillar and Seat Position Variable Structure
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본 논문은 차륜형 캐터필러 및 좌석 위치 가변 구조를 갖는 휠체어 계단 이동 보조기기의 구조에서 비롯되는 계단 이동 중 직진주행 이탈 상황을 모델링 하고 추정 및 보정하는 알고리즘을 제안하였다. 주행 이탈 상황은 플랫폼의 Yawing 상황 모델 분석으로주행 환경 특성상 Roll, Pitch와 Yaw 사이에 관계를 이용하여 Yaw값 변화 추이를 추정 하였으며, 차륜 구동 제어기의 제어변수및 좌석 위치 제어 변수로 활용하였다. 정량적 검증 결과 약 10°의 Yawing 상황에서 약 7초 내외로 직진성 보정을 확인 하였으며,좌석 위치 변화로 경로 보정간 회전 각속도를 47.5% 감소 시켜 직진성 보정에 효과가 있음을 확인 하였다.
Abstract
This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving thestairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, thechange of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as acontrol variable and the information of the wheel drive controller. The verification confirmed the correction ofabout 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by47.5% in seat position change.
참고문헌 (16)
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