| 摘要 |
The present invention relates to a method for compensating for lateral friction of an autonomous unmanned vehicle, which estimates friction occurring in a lateral direction on the ground surface in a traveling environment by using a rotation speed, calculated from speeds of both wheels when an unmanned vehicle runs, and output of mounted gyro sensors and compensates for the friction, thereby increasing accuracy of traveling of the vehicle. The method for compensating for lateral friction of an autonomous unmanned vehicle according to the present invention comprises the steps of: calculating a rotation speed of a vehicle from speeds of both wheels of the vehicle via a kinematic model; defining a relationship between output of gyro sensors, installed on both wheels of the vehicle, and the calculated rotation speed of the vehicle as a quadratic equation; repeatedly identifying individual coefficients of the quadratic equation related to lateral friction of the vehicle using a least-squares method; and modifying a command to drive both wheels of the vehicle in an inverse kinematic model using the identified coefficients. The method for compensating for lateral friction of an autonomous unmanned vehicle is provided to estimate and compensate for lateral friction between wheels of an unmanned vehicle, autonomously traveling in an arbitrary environment, and the ground surface. |
