스키드 조향 로봇 차량 고장 안전 주행 제어 알고리즘

This paper describes development of fault tolerant driving control algorithm to deal with failures of the wheel components of skid-steered robot vehicles. The proposed fault tolerant driving control algorithm is based on control allocation method, which can decide torque command of each wheel satisfying desired net force and yaw moment. The strategy of the proposed fault tolerant driving control is to make the command to the faulty wheel zero, while those to the others are redistributed. The fault tolerant driving performance of a faulty skid-steered robot vehicle was investigated via computer simulations. Simulation studies show that the proposed fault tolerant driving control algorithm can significantly improve the vehicle maneuverability, as compared to the driving control without fault tolerant driving strategy