Obstacle climbing of tracked robot for unfixed cylindrical obstacle using subtracks

EasyChair Preprint 1456

Abstract

When a tracked robot moves on a volcanic environment, the robot often has to climb over unfixed obstacles like rocks on the loose ground. On the other hand, tracked robots with subtracks have been proposed, and the climbing performance on fixed obstacles can be improved by controlling the subtracks optimally. However, the effect of subtracks on climbing over the unfixed obstacles has not been clear. In this study, to improve the climbing performance of tracked robots for unfixed obstacles, the effect of subtracks on unfixed obstacles is investigated. Concretely, the climbing-over conditions that a tracked robot should meet in climbing over the unfixed cylindrical obstacle were derived. As a result of the experiment with a real robot, the derived climbing-over conditions are valid, and the climbing over capability of the tracked robot can be increased by setting the subtrack angle optimally. Furthermore, the motion strategies of subtracks are discussed based on the experimental results.

Keyphrases: Obstacle Climbing, Unfixed obstacles, Volcano exploration, tracked robot, tracked vehicle

@booklet{EasyChair:1456,
  author    = {Ryosuke Yajima and Keiji Nagatani},
  title     = {Obstacle climbing of tracked robot for unfixed cylindrical obstacle using subtracks},
  howpublished = {EasyChair Preprint 1456},
  year      = {EasyChair, 2019}}