抄録
When a disaster occurs, there is a risk of secondary disasters for rescue crews. To use a robotic technology for search and rescue is a good solution to reduce the risk. Recent tracked vehicles for search and rescue missions have some additional actuators to improve traversability on rough terrains. However, it is very hard for operators to control such robots remotely because of the additional control of actuators. So, assist system of remote control of a tracked vehicle is effective. In this research, we proposed a method of autonomous stair climbing/descending method for a tracked vehicle based on small range sensors mounted on its subtracks. The method was implemented on one of the tracked vehicles called "Quince", and was evaluated by some indoor environments. In this paper, we introduce our system, and report the results of the experiments.
