Shared autonomy system for tracked vehicles on rough terrain based on continuous three-dimensional terrain scanning

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)

Abstract

Tracked vehicles are frequently used as search-and-rescue robots for exploring disaster areas. To enhance their ability to traverse rough terrasome of these robots are equipped with swingable subtracks. However, manual control of such subtracks also increases the operator's workload, particularly in teleoperation with limited camera views. To eliminate this trade-off, we have developed a shared autonomy system using an autonomous controller for subtracks that is based on continuous three-dimensional terrain scanning. Using this system, the operator has only to specify the direction of travel to the robot, following which the robot traverses rough terrain using autonomously generated subtrack motions. In our system, real-time terrain slices near the robot are obtained using two or three LIDAR (laser imaging detection and ranging) sensors, and these terrain slices are integrated to generate three-dimensional terrain information. In this paper, we introduce an autonomous controller for subtracks and validate the reliability of a shared autonomy system on actual rough terrains through experimental results.

Original languageEnglish
Pages (from-to)875-893
Number of pages19
JournalJournal of Field Robotics
Volume28
Issue number6
DOIs
Publication statusPublished - 2011 Nov

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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