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Robust positioning system for tracked vehicles on rough terrain

Robust positioning system for tracked vehicles on rough terrain
适用于崎岖地形履带式车辆的稳健定位系统
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

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中文摘要
翻译
通常,由于履带与地面之间的滑动,传统的里程计系统对于履带车辆来说是不准确的。在本研究中,我们提出了滑移补偿里程计,三维里程计,视觉里程计,使履带车辆在粗糙地形定位。此外,我们实施这些技术的实际履带车辆,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
26
    Force-response-type remote operation device for mobile manipulators on rough terrain based on 3D environment observation
    • 批准号:
      24360092
    • 项目类别:
      Grant-in-Aid for Scientific Research (B)
    • 资助金额:
      $8.49万
    • 财政年份:
      2012
    • 负责人:
      NAGATANI Keiji
    • 依托单位:
    海外基金