Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors
Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors
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DOI：
10.1155/2017/3624589
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Daisuke Endo;Atsushi Watanabe;K. Nagatani
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文献类型：
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作者：
Daisuke Endo;Atsushi Watanabe;K. Nagatani
在搜救任务中，通常使用配备子轨道的多自由度（DOF）履带机器人。这些类型的机器人具有上级运动性能的粗糙地形。然而，在遥操作任务中，履带式机器人的性能在很大程度上取决于操作者对每个子轨道的控制能力。因此，一个自主的遍历功能可以显着帮助在这种机器人的遥操作。本文提出了一种基于内部传感器的四自由度履带式机器人自动上下已知楼梯的规划与控制方法。仿真实验结果验证了该方法的有效性。
In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.