TY - GEN
T1 - Continuous acquisition of three-dimensional environment information for tracked vehicles on uneven terrain
AU - Nagatani, Keiji
AU - Tokunaga, Naoki
AU - Okada, Yoshito
AU - Yoshida, Kazuya
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
KW - Laser range finder
KW - Locaizaton
KW - Mapping
KW - Odmety
KW - Tracked vehicle
UR - http://www.scopus.com/inward/record.url?scp=62949148819&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949148819&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2008.4745872
DO - 10.1109/SSRR.2008.4745872
M3 - Conference contribution
AN - SCOPUS:62949148819
SN - 9781424420322
T3 - Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
SP - 25
EP - 30
BT - Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
T2 - 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Y2 - 21 November 2008 through 24 November 2008
ER -