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2025 Vol.35, Issue 3 Preview Page

Original Article

Analysis of Wheel Slip and Path Errors Based on Steering Mechanisms of a Small Autonomous Robot in Underground Rough Environments

지하 험지에서 소형 자율주행 로봇의 조향 메커니즘에 따른 바퀴 슬립 및 경로 오차 분석

Hojun Yang1
,
Yosoon Choi2*
양 호준1
,
최 요순2*
1Master's Student, Dept. of Energy Resources Engineering, Pukyong National University
2Professor, Dept. of Energy Resources & Geosystems Engineering, Sejong University
1국립부경대학교 에너지자원공학과 석사과정
2세종대학교 에너지자원공학과 교수
*Corresponding Author
30 June 2025. pp. 247-267
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Abstract

This study analyzes path errors caused by wheel slip in autonomous robots on rough terrain using three steering methods: Ackermann, differential, and tracked steering. Experiments in a mine revealed that Ackermann steering maintained stability at turning low speeds but exhibited significant path deviations at higher speeds, with a root mean square error (RMSE) of 0.2805 meters due to traction loss. Differential steering showed better path recovery, achieving an RMSE of 0.2311 meters. Tracked steering offered stability on rugged terrain but had the highest RMSE of 0.3119 meters, reflecting difficulties in fine direction adjustments. These findings underscore the need to select the right steering mechanism for optimized autonomous navigation. Insights from this research can improve robot navigation in mining, military, and other industries demanding robust performance in challenging environments.

Keywords
Autonomous robots
Wheel slip
Steering methods
Path error
Rough terrain

본 연구에서는 험지 지형에서 자율주행 로봇의 바퀴 슬립에 따른 경로 오차를 세 가지 조향 방식(Ackermann, differential, tracked)을 활용하여 분석하였다. 지하 광산에서 진행된 실험 결과, Ackermann 조향은 저속 회전 시 안정성을 유지했으나, 고속 주행 시 접지력 손실로 인해 경로의 평균 제곱근 오차(Root Mean Square Error, RMSE)가 0.2805 m로 증가하였다. Differential 조향은 경로 복구 성능이 우수하여 RMSE는 0.2311 m를 기록하였다. Tracked 조향은 험지에서의 안정성은 뛰어났으나, 방향 미세 조정이 어려워 RMSE가 0.3119 m로 가장 높았다. 본 연구 결과는 자율주행 로봇의 최적 경로 설정을 위해 적합한 조향 메커니즘을 선택하는 데 있어 중요한 시사점을 제공하며, 광산, 군사, 기타 험지 주행을 요구하는 산업에서 로봇 내비게이션 성능을 향상시키는 데 기여할 것이다.

키워드
자율주행 로봇
바퀴 슬립
조향 방식
경로 오차
험지지형
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Information
  • Publisher :Korean Society for Rock Mechanics and Rock Engineering
  • Publisher(Ko) :한국암반공학회
  • Journal Title :Tunnel and Underground Space
  • Journal Title(Ko) :터널과 지하공간
  • Volume : 35
  • No :3
  • Pages :247-267
  • Received Date : 2025-04-22
  • Revised Date : 2025-05-13
  • Accepted Date : 2025-05-13
  • DOI :https://doi.org/10.7474/TUS.2025.35.3.247
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