도시 및 야지에서 감시·정찰 목적을 갖는 군사용 SUGV의 시스템적 설계 접근법

Abstract

In this paper, We propose the systematic design approach for designing a SUGV(Small Unmanned Ground Vehicle) for the purpose of military operations such as surveillance and reconnaissance missions in urban and rough terrain. In general, a SUGV for military operations has to be light-weighted and small-sized to attain portability, and able to overcome several obstacles: stairs, curbs, high degree ramps, sandy soil terrain, snowy terrain, gravel terrain, grove terrain and rough terrain. But because of the trade-off relation in light-weight․small-size, high -mobility․high-payload performance and reliability, it is very difficult to implement a military SUGV. In this paper, for a portable SUGV for military operations in urban and rough terrain, we propose ①the systematic design approach , ②the system configuration and architecture, ③the methods to find the proper values of size and actuation capacity in the trade-off relation, ④the robust body structure and high efficient actuation mechanism and ⑤the robust control algorithm of the actuation system to enhance the mobility performance of a SUGV. Especially, the proposed robust control algorithm of the actuation system has no the chattering effect that the conventional slinding mode control can not avoid. To eliminate the chattering effect, we displace the high-speed discontinuous control signal with the continuous control signal generated by low pass filter and saturation function that we can make it implemented easily with DSP processor. Consequently, the control algorithm has the features of the robustness and no chattering effect which conventional sliding mode control has. To prove the performance of the proposed control algorithm, we perform the simulation and experimentation with the implemented SUGV. The last paragraph of this paper, to prove the efficiency of the proposed systematic design approach, we build the SUGV and experiment the mobility performance.