地雷探知ロボット搭載用制御型金属探知機の軌道追従制御および探知性能に関する考察(<小特集>運動と振動の制御の21世紀への新展開)

概要

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The capability of detecting landmines by using Metal detector is oversensitive to the gap between the landmines and the sensor head. So the deminers scan the sensor head with following the shape of the ground surface. The mine detection robots should scan the sensor head by an above mentioned strategy. At this case they need the Gap and Attitude Control with following the shape of the ground surface. But there are no reports for demonstrating the effectiveness and impact related to the Gap and Attitude Control to mine detection robots quantitatively. This paper describes a study of Controlled Metal Detector, CMD. It has the ability of the Gap and Attitude Control for the sensor head. In the ability it generates the trajectory of sensor head with using the information of ground surface acquired by the 3D stereo vision camera, so tracks the trajectory with averting a contact with ground surface. We verified the effectiveness and impact of the Gap and Attitude Control to mine detection robots quantitatively through the experiment by CMD.
社団法人日本機械学会の論文
2006-09-25