Motion control of landmine detection vehicle equipped with low-ground-pressure tires

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

doi:10.1109/MHS.2006.320238

Motion control of landmine detection vehicle equipped with low-ground-pressure tires

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynamical model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.

Original language	English
Title of host publication	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
DOIs	https://doi.org/10.1109/MHS.2006.320238
Publication status	Published - Dec 1 2006
Externally published	Yes
Event	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS - Nagoya, Japan Duration: Nov 5 2006 → Nov 8 2006

Publication series

Name	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

Other

Other	2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
Country	Japan
City	Nagoya
Period	11/5/06 → 11/8/06

ASJC Scopus subject areas

Computational Mechanics
Control and Systems Engineering
Human Factors and Ergonomics

Access to Document

10.1109/MHS.2006.320238

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Cite this

Fukuda, T., Sato, S., Hasegawa, Y., Matsuno, T., & Zyada, Z. (2006). Motion control of landmine detection vehicle equipped with low-ground-pressure tires. In 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS [4110376] (2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS). https://doi.org/10.1109/MHS.2006.320238

Motion control of landmine detection vehicle equipped with low-ground-pressure tires. / Fukuda, Toshio; Sato, Shinsuke; Hasegawa, Yasuhisa; Matsuno, Takayuki; Zyada, Zakarya.

2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS. 2006. 4110376 (2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fukuda, T, Sato, S, Hasegawa, Y, Matsuno, T & Zyada, Z 2006, Motion control of landmine detection vehicle equipped with low-ground-pressure tires. in 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS., 4110376, 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS, 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS, Nagoya, Japan, 11/5/06. https://doi.org/10.1109/MHS.2006.320238

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abstract = "Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynamical model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.",

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