Robust positioning system for tracked vehicles on rough terrain
| Project/Area Number |
21360110
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
NAGATANI Keiji 東北大学, 大学院・工学研究科, 准教授 (80314649)
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| Co-Investigator(Kenkyū-buntansha) |
NAGAI Isaku 岡山大学, 大学院・自然科学研究科, 助教 (80294437)
YOSHIDA Kazuya 東北大学, 大学院・工学研究科, 教授 (00191578)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥18,980,000 (Direct Cost: ¥14,600,000、Indirect Cost: ¥4,380,000)
Fiscal Year 2011: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2010: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2009: ¥7,540,000 (Direct Cost: ¥5,800,000、Indirect Cost: ¥1,740,000)
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| Keywords | ロボティクス / クローラ型ロボット / オドメトリ / レーザ距離センサ / ビジュアルオドメトリ / スリップ推定 |
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| Research Abstract |
Typically, it is said that conventional odometry system is inaccurate for tracked vehicles, because of slippage between tracks and the ground. In this research, we proposed slip compensated odometry, 3D odometry, and visual odometry to enable positioning for tracked vehicle on rough terrains. Furthermore, we implemented these technologies on actual tracked vehicles to evaluate its effectiveness and disadvantages.
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Report
(4 results)
Research Products
(46 results)
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[Journal Article] Multirobot Exploration for Search and Rescue Missions : A Report on Map Building in RoboCupRescue 20092011
Author(s)
Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Seiga Kiribayashi, and Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, and Satoshi Tadokoro, Hidehisa Akiyama and Itsuki Noda, Tomoaki Yoshida and Eiji Koyanagi
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Journal Title
Journal of Field Robotics
Volume: Volume28, Issue3
Pages: 373-387
Related Report
Peer Reviewed
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[Presentation] Gamma-ray irradiation test of Electric components of rescue mobile robot Quince-Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011-2011
Author(s)
Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma
Organizer
Proceedings of the 2011 IEEE Int' l Workshop on Safety, Security and Rescue Robotics
Place of Presentation
京都
Year and Date
2011-11-02
Related Report
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[Presentation] Multi-Robot Exploration for Search and Rescue Missions-A Report of Map Building in RoboCupRescue 2009-2009
Author(s)
Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Kazuya Yoshida, Seiga Kiribayashi, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi
Organizer
Proceedings of the 2009 IEEE International Workshop on Safety, Security and Rescue Robotics
Place of Presentation
Denver, U. S. A.
Year and Date
2009-11-04
Related Report
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