TY - GEN
T1 - Real-time prediction of fall and collision of tracked vehicle for remote-control support
AU - Sakurada, Ken
AU - Suzuki, Shihoko
AU - Ohno, Kazunori
AU - Takeuchi, Eijiro
AU - Tadokoro, Satoshi
AU - Hata, Akihiko
AU - Miyahara, Naoki
AU - Higashi, Kazuyuki
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2010.5708298
DO - 10.1109/SII.2010.5708298
M3 - Conference contribution
AN - SCOPUS:79952795482
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 37
EP - 42
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -