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

Kazuma Hashimoto, Shin'ichi Yuta

研究成果: Chapter

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルRecent Advances in Research and Applications
編集者Shinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
ページ113-122
ページ数10
DOI
出版ステータスPublished - 2006

出版物シリーズ

名前Springer Tracts in Advanced Robotics
24
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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