連続ランプコースにおけるサブクローラの自律角度制御

抄録

This study presents the development of an autonomous control method of an angle of subcrawlers so that a vehicle body can maintain level when moving over a mountain or valley on a continuous ramp course, which is one of the test courses for disaster response robots. The developed controller assumes to have a terrain model beforehand and determines an angle of the subcrawlers by geometrical constraints. We verify the proposed controller with numerical simulations.