Robust positioning system for tracked vehicles on rough terrain
Robust positioning system for tracked vehicles on rough terrain
批准号:
21360110
负责人:
NAGATANI Keiji
金额:
$12.15万
依托单位:
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
项目状态:
已结题
起止时间:
2009 至 2011
中文摘要
通常情况下,人们说传统的里程表系统对履带车辆不准确,因为轨道和地面之间的打滑。在这项研究中,我们提出了滑移补偿里程计、三维里程计和视觉里程计来实现履带车辆在崎岖地形上的定位。此外,我们将这些技术应用于实际的履带车辆上,以评估其有效性和缺点。
英文摘要
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.
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DOI:
10.1002/rob.20389
发表时间:
2011-05
期刊:
Journal of Field Robotics
影响因子:
8.3
作者:
[K. Nagatani;Yoshito Okada;N. Tokunaga;Seiga Kiribayashi;Kazuya Yoshida;K. Ohno;E. Takeuchi;Satoshi Tadokoro;Hidehisa Akiyama;Itsuki Noda;Tomoaki Yoshida;E. Koyanagi]
通讯作者:
K. Nagatani;Yoshito Okada;N. Tokunaga;Seiga Kiribayashi;Kazuya Yoshida;K. Ohno;E. Takeuchi;Satoshi Tadokoro;Hidehisa Akiyama;Itsuki Noda;Tomoaki Yoshida;E. Koyanagi
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
DOI:
--
发表时间:
2010
期刊:
影响因子:
--
作者:
[Eric Rohmer, Kazunori Ohno, Tomoaki Yoshida, et.Al]
通讯作者:
et.Al
DOI:
10.1109/robot.2010.5509217
发表时间:
2010-05
期刊:
2010 IEEE International Conference on Robotics and Automation
影响因子:
--
作者:
[L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng]
通讯作者:
L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng
DOI:
10.1109/iros.2010.5648974
发表时间:
2010-12
期刊:
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子:
--
作者:
[Yoshito Okada;K. Nagatani;Kazuya Yoshida;Tomoaki Yoshida;E. Koyanagi]
通讯作者:
Yoshito Okada;K. Nagatani;Kazuya Yoshida;Tomoaki Yoshida;E. Koyanagi
Redesign of rescue mobile robot Quince Toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on Mar. 2011
重新设计救援移动机器人Quince 应对2011年3月福岛第一核电站核事故的紧急响应
DOI:
--
发表时间:
2011
期刊:
影响因子:
--
作者:
[Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Yasushi Hada]
通讯作者:
Yasushi Hada
共 26 条
Force-response-type remote operation device for mobile manipulators on rough terrain based on 3D environment observation
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批准号:24360092
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项目类别:Grant-in-Aid for Scientific Research (B)
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资助金额:$8.49万
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财政年份:2012
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负责人:NAGATANI Keiji
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依托单位:
海外基金