Robust positioning system for tracked vehicles on rough terrain

适用于崎岖地形履带式车辆的稳健定位系统

• 批准号: 21360110
• 负责人: NAGATANI Keiji
• 金额: $ 12.15万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21360110/
• 关键词: ロボティクス; クローラ型ロボット; オドメトリ; レーザ距離センサ; ビジュアルオドメトリ; スリップ推定

Typically, it is said that conventional odometry system is inaccurate for tracked vehicles, because of slippage between tracks and the ground. In this research, we proposed slip compensated odometry, 3D odometry, and visual odometry to enable positioning for tracked vehicle on rough terrains. Furthermore, we implemented these technologies on actual tracked vehicles to evaluate its effectiveness and disadvantages.

通常，据说，由于轨道和地面之间的滑倒，传统的探测系统对于轨道车辆不准确。在这项研究中，我们提出了滑动补偿的探光仪，3D探光仪和视觉探光仪，以使在粗糙的地形上进行跟踪车辆的定位。此外，我们在实际轨道车辆上实施了这些技术，以评估其有效性和缺点。

项目成果

Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

• DOI: 10.1109/robot.2010.5509217
• 发表时间: 2010-05
• 期刊: 2010 IEEE International Conference on Robotics and Automation
• 作者: L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng

Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers

• DOI: 10.1109/iros.2009.5354549
• 发表时间: 2009-01-01
• 期刊: 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
• 作者: Okada, Yoshito;Nagatani, Keiji;Yoshida, Kazuya
• 通讯作者: Yoshida, Kazuya

Integration of a Sub-Crawlers Autonomous Control in Quince Highly Mobile Rescue Robot

Quince高机动救援机器人中子履带自主控制的集成

• 发表时间: 2010
• 作者: Eric Rohmer;Kazunori Ohno;Tomoaki Yoshida;et.Al
• 通讯作者: et.Al

Gamma-ray irradiation test of Electric components of rescue mobile robot Quince-Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011-

救援移动机器人Quince电气部件的伽马射线照射试验-面向2011年3月福岛第一核电站核事故应急响应-

• 发表时间: 2011
• 作者: Keiji Nagatani;Seiga Kiribayashi;Yoshito Okada;Kazuki Otake;Kazuya Yoshida;Satoshi Tadokoro;Takeshi Nishimura;Tomoaki Yoshida;Eiji Koyanagi;Mineo Fukushima;Shinji Kawatsuma
• 通讯作者: Shinji Kawatsuma

Collision Avoidance Method for Mobile Robot Considering Motion and Personal Spaces of Evacuees

考虑疏散人员运动和个人空间的移动机器人避碰方法

• 发表时间: 2010
• 作者: Takeshi OHKI;Keiji NAGATANI;Kazuya YOSHIDA
• 通讯作者: Kazuya YOSHIDA