Development of multi-D.O.F. tracked vehicle to traverse weak slope and climb up rough slope

Nagatani, Keiji; Noyori, Takahiro; Yoshida, Kazuya

doi:10.1109/iros.2013.6696759

Cited by 12 publications

(19 citation statements)

References 9 publications

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“…Special planetary exploration rovers often utilize driving wheels with firmly fixed rigid lugs. Improvement of their mechanical property involves studying the drawbar pull and slip (Ding et al., ; Nagatani et al., 2010, ). In the case of a crawler, the belt design and the effect of the shape and quantity of rigid lugs are investigated and compared with the wheeled vehicle (Sutoh et al., ).…”

Section: Blade‐type Crawler Vehiclementioning

confidence: 99%

Development of a Blade‐type Crawler Mechanism for a Fast Deployment Task to Observe Eruptions on Mt. Mihara

Yamada

Miyagawa

Yokoto

et al. 2015

Journal of Field Robotics

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Observing a crater during a volcanic eruption is a dangerous task that is still being performed by volcanologists. Because of the risks involved, it is proposed that this observation be performed by robots rather than humans. Unlike rescue robots that operate inside buildings, those that observe craters during volcanic activities are expected to demonstrate rapid movements because the environmental conditions during an eruption can change in a split second. Furthermore, the cost of the robots to be developed should be kept to a minimum, as there is a high chance that they will be damaged or lost. This study proposes a blade‐type crawler vehicle with improved performance over rough terrain. The vehicle does not compromise speed nor does it have complex controls, which keeps the cost low. The objective of the study was to observe eruptions on Mt. Mihara on Izu Oshima Island, where there have been threats of eruption in recent years. The proposed vehicle was tested, and its effectiveness was demonstrated through laboratory experiments and a field test on Mt. Mihara. This vehicle was capable of traveling on scoria desert and vulnerable, uneven, and rough terrain, including bushes, on Izu Oshima Island. In addition, the vehicle recorded a maximum velocity of about 10 km/h and climbed over steps with a height of about 135 mm, which is about 270% of the diameter of its wheel. Moreover, it is small, lightweight (2.5 kg), and it can be operated by one person. Through practical experiments, it was verified that the vehicle demonstrated superior performance and speed over rough terrain as compared with other crawler mechanisms. Therefore, it was found that the mechanism was effective for an unmanned probe device, especially in a hypothetical volcanic eruption site on Izu Oshima Island.

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Section: Blade‐type Crawler Vehiclementioning

confidence: 99%

Development of a Blade‐type Crawler Mechanism for a Fast Deployment Task to Observe Eruptions on Mt. Mihara

Yamada

Miyagawa

Yokoto

et al. 2015

Journal of Field Robotics

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“…In practice, detailed models of wheel slip including the effects of side-slopes and ground texture are generally not available for every situation. For example, when a robot is required to traverse a straight path across a sideslope, wheel-ground interaction models are still under development [15]. However, by using experience, we are able to predict that the commanded angular velocities remain within the actuator limits when generating new speed schedules.…”

Section: Collected Experiencementioning

confidence: 99%

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

Ostafew

Schoellig

Barfoot

et al. 2014

2014 Canadian Conference on Computer and Robot Vision

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A time-optimal speed schedule results in a mobile robot driving along a planned path at or near the limits of the robot's capability. However, deriving models to predict the effect of increased speed can be very difficult. In this paper, we present a speed scheduler that uses previous experience, instead of complex models, to generate time-optimal speed schedules. The algorithm is designed for a vision-based, path-repeating mobile robot and uses experience to ensure reliable localization, low path-tracking errors, and realizable control inputs while maximizing the speed along the path. To our knowledge, this is the first speed scheduler to incorporate experience from previous path traversals in order to address system constraints.The proposed speed scheduler was tested in over 4 km of path traversals in outdoor terrain using a large Ackermann-steered robot travelling between 0.5 m/s and 2.0 m/s. The approach to speed scheduling is shown to generate fast speed schedules while remaining within the limits of the robot's capability.

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“…Nagatani also reported his work about a novel multi-D.O.F. tracked vehicle, called ELF, which can conduct observation in a restricted volcanic area [16], [17]. Furthermore, there are some other robot for different exploration such as Artemis [18] and Merlin [19] for heterogenus surface and uneven terrain applications with suitable navigation system.…”

Section: Introduction mentioning

confidence: 99%

“…Furthermore, there are some other robot for different exploration such as Artemis [18] and Merlin [19] for heterogenus surface and uneven terrain applications with suitable navigation system. Hence, the navigation and control system of the mobile robot should be able to detect and aboid hazard zone as well as generate path planning to specific target (s) [16], [17], [20], [21]. This review will discuss about navigation system integrated with its control system for volcano monitoring application, the test, the test result and discussion and final remark for the system explained.…”

Section: Introduction mentioning

confidence: 99%

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Evita¹

2021

ijp

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Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.

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Development of multi-D.O.F. tracked vehicle to traverse weak slope and climb up rough slope

Cited by 12 publications

References 9 publications

Development of a Blade‐type Crawler Mechanism for a Fast Deployment Task to Observe Eruptions on Mt. Mihara

Development of a Blade‐type Crawler Mechanism for a Fast Deployment Task to Observe Eruptions on Mt. Mihara

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

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