1A2-H09 Path Evaluation on Rough Terrain for Tracked Vehicle
Shihoko SUZUKI, Kazunori Ohno, Eijiro Takeuchi, Satoshı Tadokoro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
This paper describes a local path planning and its evaluation method for tracked mobile robots. A tracked vehicle has high ability of getting over rough terrain. However, it is difficult for operator in remote place to control its moving direction and shape. We propose a new path evaluation system based on measurement of environmental shapes. In this system, the candidate paths are generated from operator inputs and terrain information. These paths are evaluated by the robot model. Finally, the combination of translational and rotational velocity is chosen. In this paper, we present a method for detecting the area where the robot cannot pass through and selecting safe paths.