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J. Field Robotics. 01/2011; 28:875-893.
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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 01/2011
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J. Field Robotics. 01/2011; 28:950-960.
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ABSTRACT: In this chapter, the combination of two path planning strategies, a global path planner and a local path planner, was discussed for a mobile robot (rover) to explorer in a lunar surface environment with poor illumination and rich obstacles. The global path planner would use the representation of the elevation data called the Global DEM (digital elevation map) gathered by a satellite mission orbiting the targeted celestial body to calculate a general path to the desired destination. The local path planner in the other hand, uses the representation of the elevation data called Local DEM obtained by its laser range sensor mounted on the rover to compute a path that would reconfigure the global path initially determined. An analysis of the LDEM, or local map, was made to classify the different areas according to the occlusion effect due to the presence of obstacles. This analysis allowed the quantification of the occluded and non-occluded regions within the area that can be covered by a laser range sensor. The algorithm that quantifies the non-occluded areas that can be perceived by the sensory system from the position where the rover is located within a local map was addressed. This quantification is given in the form of an index called the visibility index which is later incorporated in the local path planner through a method called the next sensing position. The next sensing position concept and its algorithm were explained thoroughly, and numerical simulation results were presented. The local path planner evaluates the terrain and finds an optimal path in terms of distance to the local goal obtained by the next sensing position algorithm.
03/2010; , ISBN: 978-953-307-076-6
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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan; 01/2010
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Advanced Robotics. 01/2010; 24:1149-1167.
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Advanced Robotics. 01/2010; 24:359-385.
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Kenjiro Tadakuma,,
Riichiro Tadakuma,, Keiji Nagatani,,
Kazuya Yoshida,,
Steve Peters,
Martin Udengaard,
Karl Iagnemma
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ABSTRACT: In this video, a novel tracked mechanism for sideways motion is presented. The tracked mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional tracked mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on; 06/2009
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA; 01/2009
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA; 01/2009
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2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009; 01/2009
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Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009; 01/2009
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA; 01/2009
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J. Field Robotics. 01/2009; 26:264-286.
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Field and Service Robotics, Results of the 7th International Conference, FSR 2009, Cambridge, Massachusetts, USA, 14-16 July 2009; 01/2009
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France; 01/2008
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France; 01/2008
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France; 01/2008
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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 2, 2007, Sheraton Hotel and Marina, San Diego, California, USA; 01/2007
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J. Field Robotics. 01/2007; 24:233-250.
