Modeling and Control of Robots on Rough Terrain

Keiji Nagatani, Genya Ishigami, Yoshito Okada

研究成果: Chapter

1 被引用数 (Scopus)

抄録

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.rough terrainwheeled mobile robottracked vehicle 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.

本文言語English
ホスト出版物のタイトルSpringer Handbooks
出版社Springer Science and Business Media Deutschland GmbH
ページ1267-1284
ページ数18
DOI
出版ステータスPublished - 2016

出版物シリーズ

名前Springer Handbooks
ISSN(印刷版)2522-8692
ISSN(電子版)2522-8706

ASJC Scopus subject areas

  • 一般

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