TY - GEN
T1 - Motion control of landmine detection vehicle equipped with low-ground-pressure tires
AU - Fukuda, Toshio
AU - Sato, Shinsuke
AU - Hasegawa, Yasuhisa
AU - Matsuno, Takayuki
AU - Zyada, Zakarya
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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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U2 - 10.1109/MHS.2006.320238
DO - 10.1109/MHS.2006.320238
M3 - Conference contribution
AN - SCOPUS:50449092995
SN - 1424407176
SN - 9781424407170
T3 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
BT - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
T2 - 2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
Y2 - 5 November 2006 through 8 November 2006
ER -