Laser Positioning and Navigation Control of Rough Terrain Vehicle
Grant-in-Aid for Scientific Research (C).
Intelligent mechanics/Mechanical systems
|Research Institution||Shizuoka Institute of Science and Technology|
KOMATSU Nobuo Dep. Of Sci. and Tech., Shizuoka Inst.of Sci.and Tech, Assistant Professor, 理工学部, 助教授 (80215392)
|Project Fiscal Year
1997 – 1999
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)
|Keywords||laser positioning / Rough Terrain robot / 3-D positioning / Vehicle positioning / レーザ位置計測 / 荒れ地移動ロボット / 3次元位置計測 / 移動体位置計測|
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.
Research Output (4results)