Continuous acquisition of three-dimensional environment information for tracked vehicles on uneven terrain

Keiji Nagatani, Naoki Tokunaga, Yoshito Okada, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Citations (Scopus)

Abstract

Localization and mapping are essential elements in the design of mobile robots used for search and rescue mission. Localization is a key-function of remote control and mapping in an unstructured environment. However, in general, odometry in tracked vehicles is ambiguous because of the track slippage. To solve this problem, we developed a three-dimensional gyro-based odometry that considers the compensation of slippage on the basis of an empirical model. The method was successfully implemented in a tracked vehicle, and its validity was confirmed by initial tests in real environments. Mapping is also very important in a searching task. A small three-dimensional laser range scanner provides operators and rescue crews with a wealth of information for understanding environments. However, to obtain this information, the operators must wait a few seconds and halt the robot's operation. To solve this problem, we propose the continuous acquisition of three-dimensional environment information for tracked vehicles using the three-dimensional gyro-based odometry reported above. In this paper, odometry and continuous acquisition methods are introduced for use by tracked vehicles operating in hostile environments.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Pages25-30
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 - Sendai, Japan
Duration: 2008 Nov 212008 Nov 24

Publication series

NameProceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008

Other

Other2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
CountryJapan
CitySendai
Period08/11/2108/11/24

Keywords

  • Laser range finder
  • Locaizaton
  • Mapping
  • Odmety
  • Tracked vehicle

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • Cite this

    Nagatani, K., Tokunaga, N., Okada, Y., & Yoshida, K. (2008). Continuous acquisition of three-dimensional environment information for tracked vehicles on uneven terrain. In Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 (pp. 25-30). [4745872] (Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008). https://doi.org/10.1109/SSRR.2008.4745872