Semi-autonomous traversal on uneven terrain for a tracked vehicle using autonomous control of active flippers
Semi-autonomous traversal on uneven terrain for a tracked vehicle using autonomous control of active flippers
复制标题
使用主动鳍状肢自主控制的履带式车辆在不平坦地形上的半自主行走
DOI：
10.1109/iros.2008.4650643
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
E. Koyanagi
中科院分区：
文献类型：
--
作者：
K. Nagatani;Ayato Yamasaki;Kazuya Yoshida;Tomoaki Yoshida;E. Koyanagi
履带式车辆的主动鳍状物对于提高在不平坦地形上的穿越能力非常有用。然而，众所周知，控制鳍状物也增加了操作员的工作量，特别是在车辆和操作员相距很远的情况下。为了减少工作量，我们的目标是实现一种基于传感器的鳍状物自主控制器，以实现履带车辆的半自主作业。半自主操作意味着对操作员的唯一要求是指示机器人的方向。通过这种方式，机器人通过其传感器和执行器自主导航，以跨越或避开障碍物。在本研究中，两个激光测距传感器用于地形传感，陀螺传感器用于机器人姿态的测量。基于这种传感器系统，我们提出了一种简单的基于传感器的履带车辆主动鳍足运动策略，使其能够实现半自主操作。本文介绍了一种主动鳍板的运动策略，并对装有主动鳍板的履带车辆进行了稳定性分析。最后，我们报告了几个实验结果来验证我们方法的有效性。
Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the work-load for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a ldquosemi-autonomous operationrdquo of tracked vehicles. The ldquosemi-autonomous operationrdquo means that the only requirement for an operator is to indicate the robotpsilas direction. In this way, the robot is navigated autonomously through its sensors and actuators to surmount or avoid obstacles. In this research, two laser range sensors are used for terrain sensing, and gyro sensors are used for the measurement of the robotpsilas attitude. Based on such sensor system, we propose a strategy of simple sensor-based motion of active flippers for tracked vehicles to enable a semi-autonomous operation. In this paper, we introduce a strategy of motion of active flippers, and the stability analysis of tracked vehicles with active flippers. Finally, we report several experimental results to verify the validity of our approach.