Shared autonomy system for tracked vehicles to traverse rough terrain based on continuous three-dimensional terrain scanning
Shared autonomy system for tracked vehicles to traverse rough terrain based on continuous three-dimensional terrain scanning
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DOI：
10.1109/iros.2010.5648974
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
Yoshito Okada;K. Nagatani;Kazuya Yoshida;Tomoaki Yoshida;E. Koyanagi
中科院分区：
文献类型：
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作者：
Yoshito Okada;K. Nagatani;Kazuya Yoshida;Tomoaki Yoshida;E. Koyanagi
履带式车辆经常被用作探索灾区的搜救机器人。为了增强它们在崎岖地形上的穿越能力，一些人配备了“主动鳍状肢”。然而，手动控制这种鳍状物也增加了操作员的工作量，特别是对于摄像机视野有限的遥操作。为了消除这种权衡，我们开发了一个共享自主系统，使用基于连续三维地形扫描的鳍状肢自主控制器。在我们的系统中，使用三个激光距离传感器获得机器人附近的实时地形切片，并将这些传感器集成在一起生成三维地形信息。本文介绍了鳍状肢的自主控制器，并通过在实际崎岖地形上的实验结果验证了共享自主系统的可靠性。
Tracked vehicles are frequently used as search-and-rescue robots for exploring disaster areas. To enhance their traversability on rough terrain, some are equipped with “active flippers.” However, manual control of such flippers also increases the operator's workload, particularly for teleoperation with limited camera views. To eliminate this tradeoff, we developed a shared autonomy system using an autonomous controller for flippers that is based on continuous three-dimensional terrain scanning. In our system, real-time terrain slices near the robot are obtained using three laser range sensors, and these are integrated to generate three-dimensional terrain information. In this paper, we introduce the autonomous controller for the flippers and validate the reliability of the shared autonomy system through experimental results on actual rough terrain.