クローラロボットの自己位置推定を目的とした駆動電流から滑り率を計測する方法の検討

抄録

An advantage of crawler mechanism is a stable navigation on uneven terrain. So many of rescue and field robots adopt such a mechanism. However, the mechanism has a problem of slippage with the ground in case of circling motion of the robot. To achieve dead-reckoning of a crawler robot, it is necessary to consider its slippage. In this research, we proposed a method to estimate slippage of crawlers quantitatively by using current sensors.These sensors measure current of motors driving crawlers. The proposed method was verified by our experiment using a crawler robot.