An experiment of a compositive sensing method for indoor passages and autonomous locomotion control of transformable crawler.

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Other Title
  • 複合センシングによる屋内通路の環境把握と形状可変クローラの自律移動制御実験

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A compositive sensing method for autonomous indoor locomotion has been tested and was verified to be effective.<BR>Many sensing data are required if mobile robot is to autonomously climb stairways and vertical steps. Since payload, space and electric power of a mobile robot are strictly limited, sensory hardware must be minimized. If sensors are used in a compositive manner, more information can be obtained than could be from the sensors considered individually, and some of this information cannot be obtained from individual sensors. This compositive sensing method has been applied to the locomotion control of the transformable crawler. First, the appropriate sensors for detecting indoor environments are selected, and sensing methods are discussed. Next, these methods are tested under specified environmental conditions. Lastly, this vehicle was tested by autonomously touring an indoor model passage including stairways and vertical steps. This method was shown to be effective. For this experiment, 6 different kinds and a total of 26 sensors were used, and 27 different kinds and a total of 42 information data were used for locomotion control.

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Details 詳細情報について

  • CRID
    1390282679703329920
  • NII Article ID
    130000849859
  • DOI
    10.7210/jrsj.6.5_405
  • ISSN
    18847145
    02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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