Semi-Autonomous Control System of Crawler Robot with Flippers for Getting Over 3D Terrain and Flipper Stuck Avoidance based on Real Time 3D Measurement

摘要

We aim at development of semi-autonomous control system for a crawler robot which has flippers at the front and the rear. We had proposed a sensor reflective method in 2D steps environment. In this method, an operator only specifies a moving direction to the robot. The robot automatically controls these flippers forgetting over a bump. The proposed method worked well in 2D steps environment. However, these front flippers sometimes caught upward step which was located after downward steps when the robot descended these steps. So we had also proposed a method for flipper's collision avoidance using real time 3D range camera. In using this method, the robot can go much terrain in 2D environment. In this paper, the authors will propose the method that extends at 3D environment.