Online slip estimation for mobile robot localization and reactive path planning on rough and deformable terrain
健 大木 · Institutional Repositories DataBase (IRDB) · 2013
Online Slip Estimation for Mobile Robot Localization and Reactive Path Planning on Rough and Deformable TerrainSince the high-magnitude earthquakes of March 2011, the eruption potential of many active volcanoes in Japan has increased.Once a volcano erupts, it induces severe disasters, such as pyroclastic and debris flows.To efficiently evacuate an area threatened by a volcanic disaster, the onsite observation of active volcanoes is desired to generate real-time hazard maps.However, when the eruption alert level is high, approaching such volcanoes is prohibited because human observation is difficult and dangerous.Therefore, mobile ground exploration robots are desired and currently being developed.For a volcano exploration mission, a specific scenario was assumed in this research.As the first step of the assumed scenario, the operator brings the robot to the outer border of the alert area.The operator then