Stability discriminant of a tracked vehicle to traverse stairs

Keiji Nagatani, Daisuke Endo

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


In some surveillance missions in the aftermath of disasters, the use of a teleoperated tracked vehicle contributes to the safety of rescue crews. However, because of its insufficient traversal capability, the vehicle can become trapped upon encountering rough terrain. This may lead to mission failure and, in the worst case, loss of the vehicle. To improve the success rate of such missions, it is very important to assess the traversability of a tracked vehicle on rough terrains based on objective indicators. From this viewpoint, we first derived physical conditions that must be satisfied in the case of traversal on stairs, based on a simple mechanical model of a tracked vehicle. We then proposed a traversability assessment method for tracked vehicles on stairs. In other words, we established a method to evaluate whether or not a tracked vehicle can traverse the target stairs. To validate the method, we conducted experiments with an actual tracked vehicle on our mock-p stairs, and we observed some divergences between our calculation and the experimental result. Therefore, we analyzed possible factors causing these divergences, estimated the influence of the factors. In this paper, we report the abovedescribed assessment method, the experiments, and the analyses.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509043491
Publication statusPublished - 2016 Dec 14
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: 2016 Oct 232016 Oct 27


Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality


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