Designing of online simulation environment for development control algorithms for robots operating in rough terrains

Kensuke Kurose, Satoshi Saga, Shogo Okamoto, Kazunori Ohno, Satoshi Tadokoro

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

3 Citations (Scopus)

Abstract

In the search and rescue situation at the disaster area, the searching task should be conducted by robots in order to avoid the second disaster. We study crawler robots that can traverse rough terrains and are used in such search operations. This paper describes the designing of an online simulation environment using which we can develop control algorithms for crawler robots, especially for the robot named "Kenaf." We use USARSim that can simulate three-dimensional space. By employing realtime simulation, we connect a real robot controller and the simulator directly and realize online simulation using the real robot controller. The tests show that the created simulation system can be used for the development of control algorithms.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2091-2096
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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