Improvement of the operability of a tracked vehicle on uneven terrain using autonomous control of active flippers

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi

研究成果: 書籍の章/レポート/Proceedings会議への寄与査読

2 被引用数 (Scopus)

抄録

Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the workload for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a "semi-autonomous operation" of tracked vehicles. In this research, two laser range sensors are used for terrain sensing, and gyro sensors are used for the measurement of the robot's attitude. Based on such sensor system, we propose a strategy of simple sensor-based motion of active flippers for tracked vehicles to enable a semi-autonomous operation. In this paper, we introduce a strategy of motion of active flippers. Finally, we report several experimental results to verify the validity of our approach.

本文言語英語
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2717-2718
ページ数2
DOI
出版ステータス出版済み - 2008
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, フランス
継続期間: 2008 9月 222008 9月 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

会議

会議2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域フランス
CityNice
Period08/9/2208/9/26

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