title: Rollover-free navigation for a mobile agent in an unstructured environment.
abstract: This paper introduces a navigation method for a teleoperated mobile agent (or robot) moving in an unstructured environment that includes unknown obstacles and uneven terrain, based on a guided-navigation algorithm (GNA) and a rollover-prevention algorithm (RPA). Although the mobile agent is primarily driven by an operator at a remote site, it reacts autonomously for avoiding collision with obstacles and for preventing rollover when it suspects/detects possible collision or rollover. The autonomous reactive motion is normally unexpected, thus there exists the inconsistency between the intended motion and the controlled motion of the agent from the operator. A force-reflection technique utilizing a force-feedback joystick is developed to manipulate this inconsistency. To verify the feasibility and effectiveness of the proposed navigation method, experiments with the Robot for Hazardous Application-Double Tracks (ROBHAZ-DT) (actual mobile agent) are successfully carried out.
authors.affiliation: School of Electrical Engineering, Seoul National University, Korea. pjb0922@snu.ac.kr
authors.forename: Jae Byung
authors.initials: JB
authors.lastname: Park
authors.forename: Jeong Hee
authors.initials: JH
authors.lastname: Lee
authors.forename: Beom Hee
authors.initials: BH
authors.lastname: Lee
mesh_terms: D001185:Artificial Intelligence; D003198:Computer Simulation; D004777:Environment; D008962:Models, Theoretical; D009038:Motion; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics / Q000379:methods*; D013686:Telemetry / Q000379:methods*; D014584:User-Computer Interface