可变单履带式越障机器人..doc

Driving Mode Decision in the Obstacle Negotiation of a Variable Single-Tracked Robot Hae Kwan Jeong ?, Keun Ha Choi, Soo Hyun Kim and Yoon Keun Kwak Department of Mechanical Engineering, School of Mechanical, Aerospace Systems Engineering, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, South Korea Received 7 August 2007; revised 14 March 2008; accepted 16 June 2008 Abstract We propose a new algorithm for obstacle negotiation of a mobile robot known as a variable single-tracked robot (VSTR). The robot was originally designed for the purpose of rescue operations; hence, its ability to traverse various environments should be guaranteed. Previous experiments have already shown that the special structural characteristics of a VSTR enable it to easily climb indoor stairs. However, the VSTR has a critical drawback in that all of its functions are realized by an operator and the robot cannot detect obstacles or transform its driving mode by itself. For this reason, we have enhanced the system with the basis for autonomous navigation, i.e., the ability to negotiate obstacles, and we have introduced a methodology for practical use. Our experiments confirm that the driving mode decision, which is controlled by position sensitive detector infrared sensors, gives decisive improvement. Moreover, the experimental results show that the robot can overcome several obstacles, thereby reflecting the benefits of the proposed algorithm Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008 Keywords Driving mode decision, obstacle negotiation, position sensitive detector, rescue robot, variable single tracked robot 1. Introduction Nowadays, it is very natural for a robot to work in various fields of operation as a substitute for humans. The robot is no longer an awkward figure to all and sundry. In fact, since robots were first developed, they have accomplished many laborious and tedious works that are difficult or bot