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This paper proposes a method for the research of underwater robots using technique of testing real/ virtual synthetic world. The world which is virtually created using the sensory information of both the real and a virtual world is called “synthetic world.” In this world, the robots behave as if they were swimming in the underwater-world even in the case(More)
This paper proposes a potential field-based method for high speed navigation of unmanned ground vehicles (UGVs) on uneven terrain. A potential field is generated in the two-dimensional “trajectory space” of the UGV path curvature and longitudinal velocity. Dynamic constraints, terrain conditions, and navigation conditions can be expressed in(More)
Abstract. Unmanned ground vehicles have important applications in high speed, rough terrain scenarios. In these scenarios unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. This(More)
This paper describes a path planning method for a planetary inicrorover to make a path on planetary surface. A planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain. Hence it is very important how a planetary rover processes sensory information to understand the environment and t o make decisions. The authors(More)
Many applications require unmanned ground vehicles (UGVs) to travel at high speeds on sloped, natural terrain. In this paper a potential field-based method is proposed for UGV navigation in such scenarios. In the proposed approach, a potential field is generated in the two-dimensional “trajectory space” of the UGV path curvature and longitudinal velocity.(More)
In this paper, we propose stereo vision based visual odometry with an effective feature sampling technique for untextured outdoor environment. In order to extract feature points in untextured condition, we divide an image into some sections and affect suitable processes for each section. This approach can also prevent concentration of feature points, and(More)
In future planetary exploration missions, robots are required to traverse over very rough terrain. On the surface of the moon there are covered with soils, which is named regolith. Regolith is easy to slide. Any stack may occur to the robots that are running on the regolith. Some researchers have studied the mobility system for robots. However the optimal(More)
In this paper, we propose a newly developed suspension system called “Pentad Grade Assist Suspension (PEGASUS)”. PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The(More)