Obstacle Negotiation for the Rescue Robot with Variable Single-Tracked Mechanism

가변트랙형 메커니즘의 재난구조 로봇(VSTR)을 위한 장애물 극복

  • 최근하 (KAIST 기계항공시스템학부 기계공학) ;
  • 정해관 (KAIST 기계항공시스템학부 기계공학) ;
  • 현경학 (KAIST 기계항공시스템학부 기계공학) ;
  • 곽윤근 (한국과학기술원 기계항공시스템학부)
  • Published : 2007.12.01


In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.



  1. G. W. Kohler, N. Sleigh, and M. Salaske, 'Manipulator vehicle of the nuclear emergency brigade in the federal republic of germany,' Proc. of 24th Conf. on Remote System Technology, pp. 196-218, 1976
  2. Y. Maeda, S. Tsutani, and S. Hagihara, 'Prototype of multifunctional robot vehicle' Prototype of Multifunctional Robot Vehicle,' Proc. of Int. conf. on Advanced Robotics, pp. 421-428, 1985
  3. T. Iwamoto and H. Yamamoto, 'Mechanical design of variable configuration tracked vehicle,' J. of Mechanical Design, vol. 112, pp.289-294, 1990
  4. J. D. Martens and W. S. Newman, 'Stabilization of a mobile robot climbing stairs,' Proceeding of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 2501-2507, 1994
  5. K. Yoneda, Y. Ota, and S. Hirose, 'Development of Hi-grip crawler using a deformation of powder,' JSRJ, vol. 15, pp. 1188-1193, 1997
  6. H. Schempf and E. Mutschler, 'Pandora: Autonomous urban robotic reconnaissance system,' IEEE Int. Conf. on Robotics and Automation (ICRA '99), vol. 3, pp. 2315-2321, 1999
  7. J. Y. Hirose, S., 'Search on leg-wheel hybrid stair-climbing robot, Zero Carrier,' 2004 IEEE International Conference on Robotics and Biomimetics, pp. 654-659, Aug. 2004
  8. B. Shah and H. Choset, 'Survey on urban search and rescue robotics,' CMU, Pittsburgh, PA 15213
  9. C. H. Lee and Y. K. Kwak, 'Double-track mobile robot for hazardous environment applications,' Advanced Robotics, vol. 17, no.5, pp.447-459, 2003
  10. K. H. Choi, H. K. Jeong, and Y. K. Kwak, 'Obstacle detection and driving mode decision for a rescue robot using a PSD sensor,' Proceedings of the KSME 2006 Fall Annual Meeting, pp. 680-685, 2006
  11. Y. Xiong, L. Matties, 'Vision-guided autonomous stairs climbing,' IEEE International Conference on Robotics and Automation, April 2001
  12. K. H. Choi, H. K. Jeong, J. H. Choi, H. D. Choi, and Y. K. Kwak, 'Obstacle detection and overcoming for mobile robot with variable geometty single-tracked mechanism,' Proceedings of the KIMST2006, pp. 680-685, 2006
  13. N. E. Park, D. I. Park, and Y. K. Kwak, 'Track shape f or performance improvement of the rescue robot's climbing stairs,' Proceedings of the KSME 2005 Fall Annual Meeting, pp. 859-864, 2005
  14. S. K. Lim, D. I. Park, B. S. Kim, S. W. Jeon, and Y. K. Kwak, 'Variable geometry single-tracked mechanism for a rescue robot,' Proceedings of the 2005 IEEE, International Workshop on Safety, Security and Rescue Robotics, pp. 111-115, 2005
  15. H. Mo, P. Huang, and S. Wu, 'Study on dynamic stability of a tracked robot climbing over an obstacle or descending Stairs,' Electronic Design, Test and Applications, 2006 Third IEEE International Workshop, pp. 210-213, Jan. 2006
  16. R. Manduchi, 'Obstacle detection and terrain classification for autonomous off-road navigarion,' Autonomous Robots, vol. 18, pp. 81-102, 2005
  17. L. Matthies, A. Kelly, T. Litwin, and G. Tharp, 'Obstacle detection for unmanned ground vehicles: A progress report,' 7th International Symposium of Robotics Research, Munich, Germany, 1995
  18. L. Matthies, T. Litwin, K. Owens, A. Rankin, K. Murphy, et al., 'Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR,' IEEE Workshop on Perception for Mobile Agents, Santa Barbara, CA, June 1998