Title :
Stabilization control for the mobile surveillance robot using motion simulator
Author :
Kim, Do Hyun ; Hwang, Ki Sang ; Kwon, Jeong Joo ; Kim, Sung-Soo ; Park, Sung Ho
Author_Institution :
BK21 Mechatron. Group, Chungnam Nat. Univ., Daejeon
Abstract :
A mobile surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. The robot system is mounded on an UGV (unmanned ground vehicle) system. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. To develop such a robot, expensive field tests are necessary. To reduce the numbers of field tests, a motion simulator that can regenerate UGV motion is a very effective tool to test the mobile surveillance robot in the laboratory environment. Virtual test of the mobile surveillance robot has been carried out using 3D CAD modeling and ADAMS dynamics and control simulation. Based on the simulation result, actual motion simulator has been fabricated. Stabilization control has been verified by testing the robot with motion simulator.
Keywords :
mobile robots; remotely operated vehicles; robot vision; stability; surveillance; 3D CAD modeling; color CCD camera; laser illuminator; laser receiver; machine gun; mobile surveillance robot; motion simulator; stabilization control; thermal imager; unmanned ground vehicle system; Azimuth; Cameras; Charge coupled devices; Charge-coupled image sensors; Control systems; Mobile robots; Motion control; Robot vision systems; Surveillance; Testing; Mobile Surveillance Robot; Motion Simulator; Unmanned Ground Vehicle;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694551
