Development of a Tracked Vehicle Robot with 3D Measurement System using Laser Range Finder
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Abstract
This paper presents a tracked vehicle robot witch has been developed in our laboratory and the “Embedded System Research and Development Center” of Tohoku Institute of Technology. The robot has two crawlers at the both sides. The crawler consists of rubber blocks, a chain and three sprocket wheels. The rubber blocks are fixed on each attachment hole the chain. The robot therefore can move in a variety of field including rough terrain. We have also developed a novel 3D measurement system using a laser ranged finder with an arm-type movable unit. This system is mounted on the robot and enables the robot to measure variety of 3D configuration. Because of the occlusion can be avoided by this mechanism, the robot can measure a 3D configuration such as valley, gap, upward or downward stairs more accurately. Experimental results showed that proposed system is useful for sensing more complex terrain and applicable to industrial technology area.
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