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Recovery Strategy for Overturned Wheeled Vehicle Using a Mobile Robot and Experimental Validation
Hidetoshi Ikeda1,2, Shinya Atoji2, Manami Amemiya2
1Department of Engineering, Niigata Institute of Technology, 1719 Fujihashi, Kashiwazaki City 945-1195, Japan.
Sensors (Basel, Switzerland)
|August 26, 2022
Summary
This study presents a mobile robot system for recovering overturned wheeled vehicles, enhancing operational efficiency in difficult terrains. The robot uses a manipulator, camera, and AR markers for precise recovery, proving effective in experiments.
Area of Science:
- Robotics
- Autonomous Systems
- Mechanical Engineering
Background:
- Overturned vehicles significantly disrupt work efficiency, especially in inaccessible areas.
- Manual recovery is often challenging, time-consuming, and potentially hazardous.
- Existing methods lack efficient automated solutions for vehicle recovery.
Purpose of the Study:
- To propose and evaluate a novel robot-based method for recovering overturned wheeled vehicles.
- To enhance operational continuity and safety in challenging work environments.
- To develop an autonomous system capable of precise vehicle manipulation.
Main Methods:
- A mobile robot equipped with a manipulator, hand, camera, and personal computer (PC).
- Utilized ARToolKit software for detecting AR markers on the vehicle to determine robot orientation.
- Performed theoretical analysis for robotic hand-to-target distance and implemented a control system.
Main Results:
- A statics analysis confirmed the feasibility of the proposed robot-based recovery method.
- Experimental results demonstrated the effectiveness of the implemented control system for recovery operations.
- The system successfully oriented itself and performed recovery tasks using visual marker detection.
Conclusions:
- The developed mobile robot system offers a viable and effective solution for recovering overturned vehicles.
- The integration of AR marker detection and a precise control system enables autonomous recovery.
- This robotic approach can significantly improve efficiency and safety in industrial and remote operations.
