Safety path planning for mobile robot on rough terrain considering instability of attitude maneuver

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

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

6 Citations (Scopus)

Abstract

In disaster scenarios, mobile robots that have the capability to explore in dangerous environments can offer significant assistance in search and rescue missions instead of rescue crews. The realization of such robot systems is depending on many technologies. One important future technology is autonomous navigation to replace the currently used teleoperation technology. To develop a 3-D path planning method, we focused that how to evaluate environment by skilled operators of rescue robots. From the observations of maneuvers made by skilled operators, it was found that attitude maneuvers that are turning/rolling maneuvers, are minimized on rough terrain. Therefore, in this research, we propose a path-planning method for autonomous mobile robot considering the instability of attitude maneuvers on rough terrain. The proposed method consists of three steps: "gradient calculation," "nodes detection," and "path evaluation." In the gradient calculation step, the gradients of terrain are calculated. Next, in the nodes detection step, the terrain is divided into flat regions and rough regions, and the center positions of each flat regions are identified; this is called the "node." Finally, in the path evaluation step, the best path from current position to the target destination via nodes is planned using the proposed evaluation method. The proposed method has been implemented in our simulator, and some simulation experiments were conducted to demonstrate a validity of our method.

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
Pages55-60
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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    Ohki, T., Nagatani, K., & Yoshida, K. (2010). Safety path planning for mobile robot on rough terrain considering instability of attitude maneuver. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 55-60). [5708301] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708301