Shared autonomy system for tracked vehicles to traverse rough terrain based on continuous T hree-dimensional terrain scanning

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

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

17 Citations (Scopus)

Abstract

Tracked vehicles are frequently used as search- and-rescue robots for exploring disaster areas. To enhance their traversability on rough terrain, some are equipped with "active flippers." However, manual control of such flippers also increases the operator's workload, particularly for tele-operation with limited camera views. To eliminate this tradeoff, we developed a shared autonomy system using an autonomous controller for flippers that is based on continuous three-dimensional terrain scanning. In our system, real-time terrain slices near the robot are obtained using three laser range sensors, and these are integrated to generate three-dimensional terrain information. In this paper, we introduce the autonomous controller for the flippers and validate the reliability of the shared autonomy system through experimental results on actual rough terrain.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages357-362
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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