TY - GEN
T1 - Geometric Recognition of Diverse Terrain in Real-Time for a Six-Wheeled Robot based on Laser Scanning Sensors
AU - Pico, Nabih
AU - Kim, Eui Chan
AU - Park, Sang Hyeon
AU - Tadese, Meseret Abayebas
AU - Tran, Huy Nguyen
AU - Lee, Beomjoon
AU - Moon, Hyungpil
N1 - Publisher Copyright:
© 2022 ICROS.
PY - 2022
Y1 - 2022
N2 - Wheeled robots are involved in different applications due to their adaptability to different terrains. The stability of the robot is related to the permanent contact of the wheels with the ground. This paper presents the method to recognize the geometry terrains in real-time when the wheel has contact at one or multiple contact points with the soil by using laser scanning sensors and measuring the contact angle between the wheel-ground. Furthermore, the robot can recognize when its wheel loses contact with the terrain. Thus, we can create a proper robot control by obtaining the Jacobian matrix and its inverse related to the terrain information. In consequence, the robot can overcome diverse terrains and move safely. The method is validated in experimental results when the six-wheeled robot recognizes a rocky terrain and a slope with a step.
AB - Wheeled robots are involved in different applications due to their adaptability to different terrains. The stability of the robot is related to the permanent contact of the wheels with the ground. This paper presents the method to recognize the geometry terrains in real-time when the wheel has contact at one or multiple contact points with the soil by using laser scanning sensors and measuring the contact angle between the wheel-ground. Furthermore, the robot can recognize when its wheel loses contact with the terrain. Thus, we can create a proper robot control by obtaining the Jacobian matrix and its inverse related to the terrain information. In consequence, the robot can overcome diverse terrains and move safely. The method is validated in experimental results when the six-wheeled robot recognizes a rocky terrain and a slope with a step.
KW - contact angle between wheel-ground
KW - laser scanning sensors
KW - Six-wheeled robot
KW - terrain recognition
UR - https://www.scopus.com/pages/publications/85146587710
U2 - 10.23919/ICCAS55662.2022.10003923
DO - 10.23919/ICCAS55662.2022.10003923
M3 - Conference contribution
AN - SCOPUS:85146587710
T3 - International Conference on Control, Automation and Systems
SP - 1924
EP - 1929
BT - 2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022
PB - IEEE Computer Society
T2 - 22nd International Conference on Control, Automation and Systems, ICCAS 2022
Y2 - 27 November 2022 through 1 December 2022
ER -