摘要
This paper focuses on the stair-climbing problem for a tracked robot. The tracked robot designed in this paper has the ability to explore stairs in an unknown indoor environment, climbing up and down the stairs, keeping balance while climbing, and successfully landing on the stair platform. Intelligent algorithms are proposed to explore and align stairs, and a fuzzy controller is introduced to stabilize the tracked robot,s movement during the exploration. An inexpensive Kinect depth sensor is the only equipment needed for all the control modes. Finally, experiments illustrate the effectiveness of the proposed approach for climbing stairs.
原文 | 英語 |
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文章編號 | A80 |
期刊 | International Journal of Advanced Robotic Systems |
卷 | 11 |
發行號 | 1 |
DOIs | |
出版狀態 | 已發佈 - 2014 5月 21 |
ASJC Scopus subject areas
- 軟體
- 電腦科學應用
- 人工智慧