Collision Detection and Stranding Prediction of Small Robots for Paddy Fields against Soft Obstacles Using Wavelet Transformation
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- IIZUKA Rikuto
- National Institute of Technology, Fukui College
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- KAMEYAMA Kentaro
- National Institute of Technology, Fukui College
Bibliographic Information
- Other Title
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- ウェーブレット変換を用いた水田用小型ロボットのソフト障害物への衝突検出と座礁予測
Description
<p>This paper proposes a method for detecting collisions with deformable soft obstacles and strandings of small robots before they become inoperable. The proposed method represents the robot's behavior as a mathematical model of acceleration with unknown exogenous inputs which represent collisions and detects the features of the unknown inputs estimated by an extended Kalman filter using wavelet transformation. The effectiveness of the proposed method is verified by water tank experiments, and problems are discussed.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 (0), 2P2-G24-, 2023
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390298919731618176
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed