Modeling and control of robots on rough terrain

Keiji Nagatani, Genya Ishigami, Yoshito Okada

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble. After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.

Original languageEnglish
Title of host publicationSpringer Handbook of Robotics
PublisherSpringer International Publishing
Pages1267-1284
Number of pages18
ISBN (Electronic)9783319325521
ISBN (Print)9783319325507
DOIs
Publication statusPublished - 2016 Jan 1

Fingerprint

Tracked vehicles
Robots
Soils
Wheels
Off road vehicles
Mobile robots
Navigation
Mechanical properties
Sensors

Keywords

  • Mobile robot
  • Rough terrain
  • Slip ratio
  • Terrain surface
  • Visual odometry

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

Cite this

Nagatani, K., Ishigami, G., & Okada, Y. (2016). Modeling and control of robots on rough terrain. In Springer Handbook of Robotics (pp. 1267-1284). Springer International Publishing. https://doi.org/10.1007/978-3-319-32552-1_50

Modeling and control of robots on rough terrain. / Nagatani, Keiji; Ishigami, Genya; Okada, Yoshito.

Springer Handbook of Robotics. Springer International Publishing, 2016. p. 1267-1284.

Research output: Chapter in Book/Report/Conference proceedingChapter

Nagatani, K, Ishigami, G & Okada, Y 2016, Modeling and control of robots on rough terrain. in Springer Handbook of Robotics. Springer International Publishing, pp. 1267-1284. https://doi.org/10.1007/978-3-319-32552-1_50
Nagatani K, Ishigami G, Okada Y. Modeling and control of robots on rough terrain. In Springer Handbook of Robotics. Springer International Publishing. 2016. p. 1267-1284 https://doi.org/10.1007/978-3-319-32552-1_50
Nagatani, Keiji ; Ishigami, Genya ; Okada, Yoshito. / Modeling and control of robots on rough terrain. Springer Handbook of Robotics. Springer International Publishing, 2016. pp. 1267-1284
@inbook{fe7723732c7e49c3b29a8365e8695827,
title = "Modeling and control of robots on rough terrain",
abstract = "In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble. After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.",
keywords = "Mobile robot, Rough terrain, Slip ratio, Terrain surface, Visual odometry",
author = "Keiji Nagatani and Genya Ishigami and Yoshito Okada",
year = "2016",
month = "1",
day = "1",
doi = "10.1007/978-3-319-32552-1_50",
language = "English",
isbn = "9783319325507",
pages = "1267--1284",
booktitle = "Springer Handbook of Robotics",
publisher = "Springer International Publishing",

}

TY - CHAP

T1 - Modeling and control of robots on rough terrain

AU - Nagatani, Keiji

AU - Ishigami, Genya

AU - Okada, Yoshito

PY - 2016/1/1

Y1 - 2016/1/1

N2 - In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble. After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.

AB - In this chapter, we introduce modeling and control for wheeled mobile robots and tracked vehicles. The target environment is rough terrains, which includes both deformable soil and heaps of rubble. Therefore, the topics are roughly divided into two categories, wheeled robots on deformable soil and tracked vehicles on heaps of rubble. After providing an overview of this area in Sect. 50.1, a modeling method of wheeled robots on a deformable terrain is introduced in Sect. 50.2. It is based on terramechanics, which is the study focusing on the mechanical properties of natural rough terrain and its response to off-road vehicle, specifically the interaction between wheel/track and soil. In Sect. 50.3, the control of wheeled robots is introduced. A wheeled robot often experiences wheel slippage as well as its sideslip while traversing rough terrain. Therefore, the basic approach in this section is to compensate the slip via steering and driving maneuvers. In the case of navigation on heaps of rubble, tracked vehicles have much advantage. To improve traversability in such challenging environments, some tracked vehicles are equipped with subtracks, and one kinematical modeling method of tracked vehicle on rough terrain is introduced in Sect. 50.4. In addition, stability analysis of such vehicles is introduced in Sect. 50.5. Based on such kinematical model and stability analysis, a sensor-based control of tracked vehicle on rough terrain is introduced in Sect. 50.6. Sect. 50.7 summarizes this chapter.

KW - Mobile robot

KW - Rough terrain

KW - Slip ratio

KW - Terrain surface

KW - Visual odometry

UR - http://www.scopus.com/inward/record.url?scp=85068126277&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85068126277&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-32552-1_50

DO - 10.1007/978-3-319-32552-1_50

M3 - Chapter

SN - 9783319325507

SP - 1267

EP - 1284

BT - Springer Handbook of Robotics

PB - Springer International Publishing

ER -