2005 Fiscal Year Final Research Report Summary
A study of mine detecting and mine removal technology by using autonomous control working robot
| Project/Area Number |
14350123
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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 |
Dynamics/Control
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| Research Institution | Tokyo National College of Technology |
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Principal Investigator |
SHIMOI Nobuhiro Tokyo National College of Technology, Department of mechanical engineering, Associate Professors, 機械工学科, 助教授 (10300542)
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| Co-Investigator(Kenkyū-buntansha) |
TAKITA Yoshihiro National Defense Academy, Faculty of engineering・Department of electronics engineering, Associate Professors, 情報工学科, 教授
WASAKI Katsumi Shinshu University, Faculty of engineering・Department of Information engineering, Associate Professors, 工学部, 助教授 (70271492)
KAWAMOTO Paulin, N. Shinshu University, Faculty of engineering・Department of Information engineering, Associate Professors, 工学部, 助教授 (40283238)
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| Project Period (FY) |
2002 – 2005
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| Keywords | Robot control / Smart Sensing / IR Camera, / Mine Detection / Mine detector. |
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| Research Abstract |
To conduct mine detection experiments using an octal wheeled prototype robot RAT-1, we developed end effectors to be attached to the driving wheels of the robot. This enables the robot to step safely and stably without hitting hidden mines. We created a simulation model for this study to test the movement of a robot having metal sensors attached to the front of its wheels and a driving algorithm with effect control based on IR cameras. We verified the efficiency of the system in actual walking experiments. We also studied remote sensing technology uses for JR cameras combined with other metal sensors. Tests with trial mines were used to study the detection characteristics of IR cameras and various technologies for collecting and processing image data in real time for optimum mine detection.
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