Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope

Ryosuke Yajima, Keiji Nagatani

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

1 Citation (Scopus)

Abstract

Unmanned investigation of disaster sites using robots has become indispensable in avoiding the risk of secondary disasters or those associated with restricted areas. In fact, in cases of extended periods of investigation or detailed exploration of critical sites, tracked vehicles have proved to be quite useful. However, as a tracked vehicle traverses the terrain, it may be necessary for it to climb and negotiate unfixed obstacles such as loose rocks and rubble. Such cases could result in serious problems. The vehicle could tip-over or slide down as it rolls along with loose obstacles. The primary purpose of this research is to understand how these problems develop. In this paper, the geometric tip-over conditions relative to a basic obstacle were derived, and whether those conditions apply to fixed obstacles and unfixed obstacles was investigated through an experiment.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages182-187
Number of pages6
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Publication series

NameSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Volume2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Fingerprint Dive into the research topics of 'Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope'. Together they form a unique fingerprint.

  • Cite this

    Yajima, R., & Nagatani, K. (2018). Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (pp. 182-187). (SII 2017 - 2017 IEEE/SICE International Symposium on System Integration; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279209