Improvement of the operability of a tracked vehicle on uneven terrain using autonomous control of active flippers

  • Nagatani K
  • Yamasaki A
  • Yoshida K
 et al. 
  • 4

    Readers

    Mendeley users who have this article in their library.
  • 2

    Citations

    Citations of this article.

Abstract

Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the work-load for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a dasiasemi-autonomous operationpsila of tracked vehicles. In this research, two laser range sensors are used for terrain sensing, and gyro sensors are used for the measurement of the robotpsilas attitude. Based on such sensor system, we propose a strategy of simple sensor-based motion of active flippers for tracked vehicles to enable a semi-autonomous operation. In this paper, we introduce a strategy of motion of active flippers. Finally, we report several experimental results to verify the validity of our approach.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Keiji Nagatani

  • Ayato Yamasaki

  • Kazuya Yoshida

  • Tomoaki Yoshida

  • Eiji Koyanagi

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free