Real-time prediction of fall and collision of tracked vehicle for remote-control support

Ken Sakurada, Shihoko Suzuki, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Akihiko Hata, Naoki Miyahara, Kazuyuki Higashi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This thesis describes a new method that in real time predicts fall and collision in order to support remote control of a tracked vehicle with sub-tracks. A tracked vehicle has high ability of getting over rough terrain. However, it is difficult for an operator at a remote place to control the vehicle's moving direction and speed. Hence, we propose a new path evaluation system based on the measurement of environmental shapes around the vehicle. In this system, the candidate paths are generated by operator inputs and terrain information. For evaluating the traversability of the path, we estimate the pose of the robot on the path and contact points with the ground. Then, the combination of translational and rotational velocity is chosen.

本文言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ37-42
ページ数6
DOI
出版ステータスPublished - 2010
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12月 212010 12月 22

出版物シリーズ

名前2010 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
国/地域Japan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • 制御およびシステム工学

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