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: Tohoku University
• 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
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21360110/
• 关键词: ロボティクス; クローラ型ロボット; オドメトリ; レーザ距離センサ; ビジュアルオドメトリ; スリップ推定

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.

通常，人们认为传统的里程计系统对于履带车辆来说是不准确的，因为履带与地面之间存在滑动。在这项研究中，我们提出了滑移补偿里程计、3D里程计和视觉里程计，以实现在崎岖地形上履带式车辆的定位。此外，我们将这些技术应用于实际履带车辆，以评估其有效性和缺点。

项目成果

Multirobot exploration for search and rescue missions: A report on map building in RoboCupRescue 2009

• 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

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

• 发表时间: 2010
• 作者: Eric Rohmer;Kazunori Ohno;Tomoaki Yoshida;et.Al
• 通讯作者: et.Al

Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

• DOI: 10.1109/robot.2010.5509217
• 发表时间: 2010-05
• 期刊: 2010 IEEE International Conference on Robotics and Automation
• 作者: L. Ding;K. Nagatani;Keisuke Sato;A. Vargas;Kazuya Yoshida;Haibo Gao;Z. Deng

Shared autonomy system for tracked vehicles to traverse rough terrain based on continuous three-dimensional terrain scanning

• DOI: 10.1109/iros.2010.5648974
• 发表时间: 2010-12
• 期刊: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
• 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

• 发表时间: 2011
• 作者: Keiji Nagatani;Seiga Kiribayashi;Yoshito Okada;Satoshi Tadokoro;Takeshi Nishimura;Tomoaki Yoshida;Eiji Koyanagi;Yasushi Hada
• 通讯作者: Yasushi Hada