Robust positioning system for tracked vehicles on rough terrain

• Project/Area Number: 21360110
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAGATANI Keiji 東北大学, 大学院・工学研究科, 准教授 (80314649)
• 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)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥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)
• 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

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.

Research Products

• [Journal Article] Traveling Performance Evaluation of Planetary Rovers on Loose Soil (2012)
  • Author(s): Masataku Sutoh, Junya Yusa, Tsuyoshi Ito, Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Journal of Field Robotics, accepted and to be appeared
  • Peer Reviewed
• [Journal Article] Shared Autonomy System for Traversing and Turning Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning (2011)
  • Author(s): Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi
  • Journal Title: Journal of Field Robotics Volume: Volume28, Issue6 Pages: 875-893
  • Peer Reviewed
• [Journal Article] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2011)
  • Author(s): Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma, Eiji Koyanagi
  • Journal Title: Journal of Field Robotics Volume: Volume28, Issue6 Pages: 950-960
  • Peer Reviewed
• [Journal Article] Multirobot Exploration for Search and Rescue Missions : A Report on Map Building in RoboCupRescue 2009 (2011)
  • 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
  • Journal Title: Journal of Field Robotics Volume: Volume28, Issue3 Pages: 373-387
  • Peer Reviewed
• [Journal Article] Shared Autonomy System for Traversing and Turning Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning (2011)
  • Author(s): Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, et.al.
  • Journal Title: Journal of Field Robotics Volume: 28 Pages: 875-893
  • Peer Reviewed
• [Journal Article] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2011)
  • Author(s): Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, et.
  • Journal Title: Journal of Field Robotics Volume: 28 Pages: 950-960
  • Peer Reviewed
• [Journal Article] Experimental study and analysis on driving wheels performance for planetary exploration rovers moving in deformable soil (2011)
  • Author(s): L.Ding, H.Gao, Z.Deng, K.Nagatani, K.Yoshida
  • Journal Title: Journal of Terramechanics Volume: 48 Pages: 27-45
  • Peer Reviewed
• [Journal Article] Development of a Visual Odometry System for a Wheeled Robot on Loose Soil Using a Telecentric Camera (2010)
  • Author(s): Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai
  • Journal Title: Advanced Robotics Volume: Volume24 Pages: 1149-1167
  • NAID: 10028167771
  • Peer Reviewed
• [Journal Article] Odometry Correction Using Visual Slip-Angle Estimation for Planetary Exploration Rovers (2010)
  • Author(s): Giulio Reina, Genya Ishigami, Keiji Nagatani, and Kazuya Yoshida
  • Journal Title: Advanced Robotics Volume: Volume24 Pages: 359-385
  • NAID: 10027464080
  • Peer Reviewed
• [Journal Article] Odometry Correction Using Visual Slip-Angle Estimation for Planetary Exploration Rovers (2010)
  • Author(s): Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida
  • Journal Title: Advanced Robotics 24 Pages: 359-385
  • NAID: 10027464080
  • Peer Reviewed
• [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
• [Presentation] Redesign of rescue mobile robot Quince Toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on Mar. 2011 (2011)
  • Author(s): Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Yasushi Hada
  • 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
• [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 2011 (2011)
  • Author(s): Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, et.al.
  • Organizer: he 2011 IEEE Int'l Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: 京都
  • Year and Date: 2011-11-02
• [Presentation] Redesign of rescue mobile robot Quince--Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on 2011 (2011)
  • Author(s): Keiji Nagatani, Seiga Kiribayashi Yoshito Okada et.
  • Organizer: he 2011 IEEE Int'l Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: 京都
  • Year and Date: 2011-11-02
• [Presentation] Rescue mobile robot Quince--Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on 2011 (2011)
  • Author(s): Keiji Nagatani, Tomoaki Yoshida
  • Organizer: IEEE/RSJ International conference on Intelligent Robots and Systems 2011
  • Place of Presentation: San Francisco, U.S.A.(招待講演)
  • Year and Date: 2011-09-26
• [Presentation] Evaluation of influence of surface shape of wheel on traveling performance of planetary rovers over slope (2011)
  • Author(s): Masataku Sutoh, Keiji Nagatani, Kazuya Yoshida
  • Organizer: The 17th International Society of Terrain Vehicle Systems International Conference
  • Place of Presentation: Virginia, U. S. A.
  • Year and Date: 2011-09-20
• [Presentation] Evaluation of influence of surface shape of wheel on traveling performance of planetary rovers over slope (2011)
  • Author(s): Masataku Sutoh, Keiji Nagatani, Kazuya Yoshida
  • Organizer: The 17th International Society of Terrain Vehicle Systems International Conference
  • Place of Presentation: Virginia, U.S.A.
  • Year and Date: 2011-09-20
• [Presentation] Influence Evaluation of Wheel Surface Profile on Traversability of Planetary Rovers (2010)
  • Author(s): Masataku Sutoh, Tsuyoshi Ito, Keiji Nagatani, and Kazuya Yoshida
  • Organizer: SI International 2010
  • Place of Presentation: 仙台
  • Year and Date: 2010-12-22
• [Presentation] Safety Path Planning for Mobile Robot on Rough Terrain Considering Instability of Attitude Maneuver (2010)
  • Author(s): Takeshi OHKI, Keiji NAGATANI, Kazuya YOSHIDA
  • Organizer: SI International 2010
  • Place of Presentation: 仙台
  • Year and Date: 2010-12-22
• [Presentation] Influence Evaluation of Wheel Surface Profile on Traversability of Planetary Rovers (2010)
  • Author(s): Masataku Sutoh, Tsuyoshi Ito, Keiji Nagatani, et.Al
  • Organizer: SI International 2010
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2010-12-21
• [Presentation] Integration of a Sub-Crawlers Autonomous Control in Quince Highly Mobile Rescue Robot (2010)
  • Author(s): Eric Rohmer, Kazunori Ohno, Tomoaki Yoshida, et.Al
  • Organizer: SI International 2010
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2010-12-21
• [Presentation] Safety Path Planning for Mobile Robot on Rough Terrain Considering Instability of Attitude Maneuver (2010)
  • Author(s): Takeshi OHKI, Keiji NAGATANL, et.Al
  • Organizer: SI International 2010
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2010-12-21
• [Presentation] Collision Avoidance Method for Mobile Robot Considering Motion and Personal Spaces of Evacuees (2010)
  • Author(s): Takeshi OHKI, Keiji NAGATANI, Kazuya YOSHIDA
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: TAIPEI, TAIWAN
  • Year and Date: 2010-10-20
• [Presentation] Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains (2010)
  • Author(s): Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: TAIPEI, TAIWAN
  • Year and Date: 2010-10-20
• [Presentation] Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains (2010)
  • Author(s): Isaku Nagai, Keigo Watanabe, et.Al
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-10-20
• [Presentation] Shared Autonomy System for Tracked Vehicles to Traverse Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning (2010)
  • Author(s): Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: TAIPEI, TAIWAN
  • Year and Date: 2010-10-19
• [Presentation] Quince : A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development (2010)
  • Author(s): Eric Rohmer, Tomoaki Yoshida, Kazunori 0hno, Keiji Nagatani, Satoshi Tadokoro, Eiji Koyanagi
  • Organizer: International Conference on Advanced Mechatronics
  • Place of Presentation: TAIPEI, TAIWAN
  • Year and Date: 2010-10-19
• [Presentation] Shared Autonomy System for Tracked Vehicles to Traverse Rough Terrain Based on Continuous 3D Terrain Scanning (2010)
  • Author(s): Yoshito Okada, Keiji Nagatani, et.Al
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-10-19
• [Presentation] Traveling Performance Evaluation for Planetary Rovers on Weak Soil (2010)
  • Author(s): M.Sutoh, J.Yusa, K.Nagatani, K.Yoshida
  • Organizer: 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2010-08-31
• [Presentation] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2010)
  • Author(s): K. Nagatani, H. Kinoshita, K. Yoshida, K. Tadakuma, E. Koyanagi
  • Organizer: Proceedings of the 2010 IEEE International Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: Bremen, Germany
  • Year and Date: 2010-07-29
• [Presentation] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2010)
  • Author(s): K.Nagatani, et.Al
  • Organizer: IEEE International Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: Bremen, Germany
  • Year and Date: 2010-07-27
• [Presentation] Trials of 3-D Map Construction Using the Tele-Operated Crawler Robot Kenaf at Disaster City (2010)
  • Author(s): Kazunori Ohno, Satoshi Tadokoro, Keiji Nagatani, Eiji Koyanagi, Tomoaki Yoshida
  • Organizer: 2010 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Alaska, U. S. A.
  • Year and Date: 2010-05-05
• [Presentation] Terramechanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain (2010)
  • Author(s): Liang Ding, Keiji Nagatani, Keisuke Sato, Andres Mora, Kazuya Yoshida, Haibo Gao, Zongquan Deng
  • Organizer: 2010 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Alaska, U. S. A.
  • Year and Date: 2010-05-05
• [Presentation] Terramechanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain (2010)
  • Author(s): Liang Ding, Keiji Nagatani, Keisuke Sato, et.Al
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Alaska, U.S.A.
  • Year and Date: 2010-05-05
• [Presentation] Trials of 3-D Map Construction Using the Tele-Operated Crawler Robot Kenaf at Disaster City (2010)
  • Author(s): Kazunori Ohno, Satoshi Tadokoro, Keiji Nagatani, Eiji Koyanagi, Tomoaki Yoshida
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Alaska, U.S.A.
  • Year and Date: 2010-05-05
• [Presentation] Teleoperation of all-terrain robot using continuous acquisition of three-dimensional environment under time-delayed narrow bandwidth communication (2009)
  • Author(s): Keiji Nagatani, Naoki Tokunaga, Yoshito Okada, Kazuya Yoshida, Yasushi Hada, 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
• [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
• [Presentation] Teleoperation of all-terrain robot using continuous acquisition of three-dimensional environment under time-delayed narrow bandwidth communication (2009)
  • Author(s): Keiji Nagatani, Naoki Tokunaga, Yoshito Okada, Kazuya Yoshida, et. Al
  • Organizer: Proceedings of the 2009 IEEE International Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: 米国・デンバー
  • Year and Date: 2009-11-04
• [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 et. Al
  • Organizer: Proceedings of the 2009 IEEE International Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: 米国・デンバー
  • Year and Date: 2009-11-04
• [Presentation] Accurate Estimation of Drawbar Pull of Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel (2009)
  • Author(s): Keiji Nagatani, Ayako Ikeda, Keisuke Sato, Kazuya Yoshida
  • Organizer: 2009 IEEE/RSJ Int' l Conf. on Intelligent Robots and Systems
  • Place of Presentation: St. Luis, U.S.A.
  • Year and Date: 2009-10-13
• [Presentation] Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers (2009)
  • Author(s): Yoshito Okada, Keiji Nagatani, Kazuya Yoshida
  • Organizer: 2009 IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems
  • Place of Presentation: St. Luis, U.S.A.
  • Year and Date: 2009-10-13
• [Presentation] Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers (2009)
  • Author(s): Yoshito Okada, Keiji Nagatani, Kazuya Yoshida
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 米国・セントルイス
  • Year and Date: 2009-10-13
• [Presentation] Accurate Estimation of Drawbar Pull of Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel (2009)
  • Author(s): Keiji Nagatani, Ayako Ikeda, Keisuke Sato, Kazuya Yoshida
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: 米国・セントルイス
  • Year and Date: 2009-10-13
• [Presentation] Scan-point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Env. (2009)
  • Author(s): K. NAGATANI, Takayuki Matsuzawa, and Kazuya Yoshida
  • Organizer: Proceedings of the 7th International Conf. on Field and Service Robotics
  • Place of Presentation: Boston, U.S.A.
  • Year and Date: 2009-07-14
• [Presentation] Field Experiment on Multiple Mobile Robots conducted in an Underground Mall (2009)
  • Author(s): Tomoaki Yoshida, Keiji Nagatani, Eiji Koyanagi, Yasushi Hada, Kazunori Ohno, Shoichi Maeyama, Hidehisa Akiyama, Kazuya Yoshida, and Satoshi Tadokoro
  • Organizer: Proceedings of the 7th International Conference on Field and Service Robotics
  • Place of Presentation: Boston, U.S.A.
  • Year and Date: 2009-07-14
• [Remarks] Webpage