Semi-autonomous operation of tracked vehicles on rough terrain using autonomous control of active flippers

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

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

32 Citations (Scopus)

Abstract

For tracked vehicles moving over rough terrain, it is important to avoid rollovers and rapid motion. To realize smooth locomotion on rough terrain, some tracked vehicles are equipped with "active flippers." Such flippers increase the traversability and stability of tracked vehicles. However, their control increases the operator workload, especially in the case of teleoperation. To eliminate this problem, we have developed an autonomous controller for generating terrain-reflective motions of flippers. Terrain information is obtained using laser range sensors that are located at both sides of our tracked vehicle testbed. Using this system, operators only have to specify a direction to the robot, following which the robot traverses rough terrain using autonomous flipper motions. In this paper, we introduce a strategy and an algorithm for the controller for active flippers and validate the reliability of the system through experimental results on rough terrain.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2815-2820
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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