Semi-autonomous operation of tracked vehicles on rough terrain using autonomous control of active flippers

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

36 被引用数 (Scopus)

抄録

For tracked vehicles moving over rough terrain, it is important to avoid rollovers and rapid motion. To realize smooth locomotion on rough terrain, some tracked vehicles are equipped with "active flippers." Such flippers increase the traversability and stability of tracked vehicles. However, their control increases the operator workload, especially in the case of teleoperation. To eliminate this problem, we have developed an autonomous controller for generating terrain-reflective motions of flippers. Terrain information is obtained using laser range sensors that are located at both sides of our tracked vehicle testbed. Using this system, operators only have to specify a direction to the robot, following which the robot traverses rough terrain using autonomous flipper motions. In this paper, we introduce a strategy and an algorithm for the controller for active flippers and validate the reliability of the system through experimental results on rough terrain.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ2815-2820
ページ数6
DOI
出版ステータスPublished - 2009 12月 11
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10月 112009 10月 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域United States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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