Rapid Deployment and Semi-Autonomous Retrieval of a Tracked Robot Using an Unmanned Transport Vehicle for Post-Disaster Exploration
Immanuel P. Paradela, Jeanette C. Pao, Melody Mae O. Maluya, John Mel A. Bolaybolay, Sheena V. Alvarez, Carl John O. Salaan, Yoshito Okada, Kazunori Ohno, Kenjiro Tadakuma, Satoshı Tadokoro · 2025
Retrieving tracked vehicles from dangerous settings after deployment poses major problems and risks to personnel. Remotely operated transport vehicles are utilized for retrieving tracked vehicles, which increases operational safety. However, latency in camera feedback can reduce operator accuracy during retrieval. This study presents a visual servo control approach to mitigate such delays by enabling the tracked vehicle to autonomously align with the rear of the transport vehicle. By integrating detection through ArUco markers affixed to the transport vehicle ramp, the tracked vehicle adjusts its positioning during its operation. This study developed an alternative multi-robot unmanned ground vehicle (UGV) system consisting a large transport vehicle and a compact tracked vehicle for exploration and data gathering application in dangerous settings. A remotely controlled door-to-ramp system for easy deployment and retrieval of the tracked vehicle was developed. Semi-autonomous control strategy to improve the tracked vehicle’s performance was developed. An actual retrieval procedure was done focusing on tracked vehicle visual servo control, with an average error distance of 75 mm and a maximum error of 210 mm which was within the allowable margin of 282.7 mm, indicated the effectiveness of the system. The tracked vehicle successfully implemented the visual servo control and adjusted its position within the transport vehicle. Index terms - tracked vehicle, transport vehicle, visual servo control, computer vision, semi-autonomous vehicles.