Low-ground-pressure vehicle for landmine detection (characteristic of low-ground-pressure tire and proposal of position and posture control technique)

Toshio Fukuda, Shinsuke Sato, Yasuhisa Hasegawa, Takayuki Matsuno, Zakarya Zyada

Research output: Contribution to journalArticle

Abstract

This paper proposes a kinematic model of the vehicle with low-ground-pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground-pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

Original languageEnglish
Pages (from-to)2038-2044
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume74
Issue number8
Publication statusPublished - Aug 2008
Externally publishedYes

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Tires
Kinematics
Radar
Trajectories
Landmine detection

Keywords

  • Landmine detection
  • Motion control
  • Moving robot
  • Positioning
  • Vehicle

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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AU - Fukuda, Toshio

AU - Sato, Shinsuke

AU - Hasegawa, Yasuhisa

AU - Matsuno, Takayuki

AU - Zyada, Zakarya

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AB - This paper proposes a kinematic model of the vehicle with low-ground-pressure tire that enables to enter a minefield in order to scan remaining landmines by a ground penetrating radar in level III survey. The low-ground-pressure tire makes low pressure contact with a ground by deforming its shape of the tire, but the deformation deteriorates position and steering control accuracy. Therefore this paper models the kinematics of the low-ground-pressure vehicle based on experimental results. Besides we experimentally confirmed that the vehicle could precisely trace the target trajectory by considering its kinematics in simulated minefield.

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KW - Motion control

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KW - Positioning

KW - Vehicle

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