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

Kazuma Hashimoto; Shin'ichi Yuta

doi:10.1007/10991459_12

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

Kazuma Hashimoto, Shin'ichi Yuta

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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 language	English
Title of host publication	Robotics
Subtitle of host publication	Recent Advances in Research and Applications
Editors	Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages	113-122
Number of pages	10
DOIs	https://doi.org/10.1007/10991459_12
Publication status	Published - 2006 Sep 28

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	24
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

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ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

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

Autonomous detection of untraversability of the path on rough terrain for the remote controlled mobile robots. / Hashimoto, Kazuma; Yuta, Shin'ichi.

Robotics: Recent Advances in Research and Applications. ed. / Shinichi Yuta; Hajima Asama; Erwin Prassler; Takashi Tsubouchi; Sebastian. 2006. p. 113-122 (Springer Tracts in Advanced Robotics; Vol. 24).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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Access to Document

10.1007/10991459_12