Yoji Kuroda

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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 paper(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. PE-GASUS is able to successfully climb up on the step-alike terrain with low energy consumption by scale model test.(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 this space. A(More)