Autonomous detection of untraversability of the path on rough terrain for the remote controlled mobile robots

Kazuma Hashimoto, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The mobile robot which traverses on a rough terrain, should have an ability to recognize the shape of the ground surface and to examine the traversability by itself. Even if the robot is remotely controlled by operator, such an ability is still very important to save the operator's load and to keep safety. For this purpose, the robot measures the front ground, and generate the local elevation map which represents the area where the robot is going to pass, and examines that the wheels can pass through and the bottom surface of robot body dose not contact with ground. This paper reports a simple method of traversability test for the wheeled mobile robot and show an experimental system with some results.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationRecent Advances in Research and Applications
EditorsShinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages113-122
Number of pages10
DOIs
Publication statusPublished - 2006 Sep 28

Publication series

NameSpringer Tracts in Advanced Robotics
Volume24
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Hashimoto, K., & Yuta, S. (2006). Autonomous detection of untraversability of the path on rough terrain for the remote controlled mobile robots. In S. Yuta, H. Asama, E. Prassler, T. Tsubouchi, & Sebastian (Eds.), Robotics: Recent Advances in Research and Applications (pp. 113-122). (Springer Tracts in Advanced Robotics; Vol. 24). https://doi.org/10.1007/10991459_12