Real-time prediction of fall and collision of tracked vehicle for remote-control support

Ken Sakurada, Shihoko Suzuki, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Akihiko Hata, Naoki Miyahara, Kazuyuki Higashi

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

2 Citations (Scopus)

Abstract

This thesis describes a new method that in real time predicts fall and collision in order to support remote control of a tracked vehicle with sub-tracks. A tracked vehicle has high ability of getting over rough terrain. However, it is difficult for an operator at a remote place to control the vehicle's moving direction and speed. Hence, we propose a new path evaluation system based on the measurement of environmental shapes around the vehicle. In this system, the candidate paths are generated by operator inputs and terrain information. For evaluating the traversability of the path, we estimate the pose of the robot on the path and contact points with the ground. Then, the combination of translational and rotational velocity is chosen.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages37-42
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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