Abstract
To increase the speed of automatic transport vehicles in underground narrow pathways, we have developed a differential four-wheel vehicle that can keep contact with the wall using roller bumpers. In wall-contacting driving, the vehicle may be damaged by the collision with convexity and concavity of the wall. In this research, a preliminary experiment highlights what kind of convexity and concavity greatly affect the vehicle. Based on those results, this paper proposes a convexity and concavity detection method using geometric feature extraction of wall roughness. To evaluate the performance of the method, experiments have been conducted by using a scale model. The experimental results clarify the feasibility of the detection and the collision avoidance of wall convexity and concavity using the proposed feature values extracted from the distance sensor data.
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Karasawa, H., Okubo, T., Fukui, R., Nakao, M., Kodama, Y. (2017). High-Speed Wall-Contacting Drive for Underground Automatic Transport Vehicle. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_32
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DOI: https://doi.org/10.1007/978-3-319-50115-4_32
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