Development of the 4 Wheeled Mobile Platform for Large-Scale Forestry Work can Maintain Stable Posture and Move in Rough Terrain Environment and Mission Equipment Linkage Technology

Period : 2024-04-01 ~ 2028-12-31

Goal of This Project

Development of intelligent forestry machinery capable of semi-autonomous operation in steep and irregular terrain through integrated robotic control, sensing, and AI-based optimization.

To do this, this study established Four Scientific Objectives (SO):

• (SO.1) : Develop a lightweight hydraulic manipulator and forestry forwarder platform for operation in steep and irregular terrain.
• (SO.2) : Integrate multipurpose harvesting tools with control, sensing, and communication modules for semi-autonomous work.
• (SO.3) : Establish whole-body control and trajectory optimization algorithms to ensure stability and safety during operation.
• (SO.4) : Deliver intelligent forestry machinery that increases efficiency and reduces risks in demanding environments.

Importance of the Research

• Imported forestry machines are unsuitable for steep and rugged domestic terrain, creating demand for localized solutions.
• Decline and aging of the forestry workforce require automation and semi-autonomous systems for sustainable productivity.
• Robotic control and AI integration can reduce safety risks, prevent accidents, and improve working conditions.
• Intelligent forestry machinery lowers operator skill barriers, reduces healthcare and labor costs, and strengthens industrial competitiveness.

Project Contents

To achieve the scientific goals of this study, the following Four Work Packages (WP) were established, covering robotics, control systems, AI, and field validation:

• (WP.1) : Conduct preliminary studies and build a multi-body dynamics simulation environment for control validation.
• (WP.2) : Develop hierarchical whole-body control algorithms for integrated upper and lower platforms.
• (WP.3) : Apply nonlinear MPC for center-of-mass control, collision avoidance, and trajectory optimization.
• (WP.4) : Integrate and optimize control algorithms to ensure robust semi-autonomous operation under irregular terrain and disturbances.

Participating Researchers

• Wansoo Kim
• Soonwoong Hwang
• Seungmin Choi
• Kai Li
• Geunwoo Kwon
• Jeongmok Kim
• Seokhwan Hwang
• Jingwang Lee

Funding