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Laser Positioning and Navigation Control of Rough Terrain Vehicle

Research Project

Project/Area Number 09650299
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionShizuoka Institute of Science and Technology

Principal Investigator

KOMATSU Nobuo  Dep. Of Sci. and Tech., Shizuoka Inst.of Sci.and Tech, Assistant Professor, 理工学部, 助教授 (80215392)

Project Period (FY) 1997 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 1999: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1998: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1997: ¥1,700,000 (Direct Cost: ¥1,700,000)
Keywordslaser positioning / Rough Terrain robot / 3-D positioning / Vehicle positioning
Research Abstract

The purpose of this research is to promote the realization of the position and attitude measuring system for guidance of a rough terrain vehicle or planet investigation rover using the system that measures 3-D position and attitudes of the vehicle with two laser rotation scanners on a vehicle and reflectors on reference points. Other purposes are evaluation and error analysis of the developed experimental system and measuring algorithm.
In this research period, the guidance experiments are achieved using improved vehicle system which is already experimentally produced.
1) Steering system
I experimentally produced the steering system that used DC-Geared motor and timing belt and pulley.
The result confirmed the action needed for steering.
2) Improvement of a laser position measuring system
To miniaturize the system, I constructed the angle measuring system that used a notebook style computer.
I adopted the circuit with interrupt as the interface with the outside and computer.
The software counting algorithms of the interrupt signal were adopted for counting the high frequency pulse of the high resolution encoder in the laser scanner.
Only with interrupt signal, it became possible to measure the angle of the laser scanner.
However, the software counting enlarged the influence of an engine vibration.
3) Traveling experiment
I achieved the position experiment when the vehicle is moving.
The result was that it is difficult to guide the vehicle with the enough accuracy by the influence of the vibration of the engine.
4) Evaluation of the system
With making the precision of the measurement system lower, it is possible to guide the vehicle.
It is necessary to absorb the vibration in order to obtain the sufficient accuracy. Summarizing them, I reported the research results in some papers.

Report

(4 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • 1997 Annual Research Report
  • Research Products

    (4 results)

All Other

All Publications (4 results)

  • [Publications] 小松,津村,大久保: "移動体搭載レーザスキャナによる移動体の3次元位置姿勢計測"システム制御情報学会論文誌. 13-6. 284-292 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] N.Komatsu,T.Tsumura: "3-D position measurement system using laser fan beam scanners"Proc. of Japan-U.S.A. Symposium on Flexible Automation. 1370-1-1370-4 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Nobuo Komatsu, Toshibiro Tsumura, Hiroshi Okubo: "Measurement of the 3-D Position and Attitude of a Vehicle by Use of On-board Laser Fan Beam scanners and Corner Cubes"Trans.Of the Institute of Systems, control and Information Engineers. vol.13, No.6 (in Japanese). 284-292 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Nobuo Komatsu, Toshihiro Tsumura: "3-D position measurement system using laser fan beam scanners"Proc.Of Japan-U.S.A.Symposium on Flexible Automation. H2,2000JUSFA-13070. 1-4 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary

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Published: 1997-04-01   Modified: 2016-04-21  

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