Construction of path trackingcontrol method and establishment of autonomous navigation for tracked vehicleson rough terrain

• Project/Area Number: 22560252
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Denki University
• Principal Investigator: KURISU Masamitsu 東京電機大学, 工学部, 教授 (30287429)
• Project Period (FY): 2010 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2011: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000); Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
• Keywords: 知能ロボティクス / 装軌車両 / 自己位置推定 / 走行制御 / 滑り / 知能機械 / 機械力学・制御

Research Abstract

A path tracking control method for tracked vehicles, which compensates slippage of crawlers, was constructed. A position estimation method in consideration of the slippage and drag force from a ground was also constructed. As for the tracking control, simulations and experiments show that the control method makes the vehicle possible to follow a desired path, although the tracking performance degrades on a place where characteristics of the ground change. As for the position estimation method, we found that accuracy of estimation decreased on the place where characteristics of the ground changed. Further improvement to add an automatic calibration of sensors is required.