Driving Mode Decision in the Obstacle Negotiation of a Variable Single-Tracked Robot
Driving Mode Decision in the Obstacle Negotiation of a Variable Single-Tracked Robot
复制标题
可变单履带机器人越障时的驾驶模式决策
DOI：
10.1163/156855308x360497
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Y. Kwak
中科院分区：
文献类型：
--
作者：
H. Jeong;K. Choi;S. Kim;Y. Kwak
We propose a new algorithm for obstacle negotiation of a mobile robot known as a variable single-tracked robot (VSTR). The robot was originally designed for the purpose of rescue operations; hence, its ability to traverse various environments should be guaranteed. Previous experiments have already shown that the special structural characteristics of a VSTR enable it to easily climb indoor stairs. However, the VSTR has a critical drawback in that all of its functions are realized by an operator and the robot cannot detect obstacles or transform its driving mode by itself. For this reason, we have enhanced the system with the basis for autonomous navigation, i.e., the ability to negotiate obstacles, and we have introduced a methodology for practical use. Our experiments confirm that the driving mode decision, which is controlled by position-sensitive detector infrared sensors, gives decisive improvement. Moreover, the experimental results show that the robot can overcome several obstacles, thereby reflecting the benefits of the proposed algorithm.
