A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight

Chinthaka Premachandra; Masahiro Otsuka; Ryo Gohara; Takao Ninomiya; Kiyotaka Kato

doi:10.1109/JAS.2018.7511258

Volume 6 Issue 1

Jan. 2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(1): 327-336

Chinthaka Premachandra, Masahiro Otsuka, Ryo Gohara, Takao Ninomiya and Kiyotaka Kato, "A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 327-336, Jan. 2019. doi: 10.1109/JAS.2018.7511258

Citation:

Chinthaka Premachandra, Masahiro Otsuka, Ryo Gohara, Takao Ninomiya and Kiyotaka Kato, "A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 327-336, Jan. 2019. doi: 10.1109/JAS.2018.7511258

Citation:

Chinthaka Premachandra, Masahiro Otsuka, Ryo Gohara, Takao Ninomiya and Kiyotaka Kato, "A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 327-336, Jan. 2019. doi: 10.1109/JAS.2018.7511258

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A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight

doi: 10.1109/JAS.2018.7511258

1.
Department of Electronic Engineering, Graduate School of Engineering, Shibaura Institute of Technology, 135-8548, Tokyo, Japan
2.
Department of Electrical Engineering, Graduate School of Engineering, Tokyo University of Science, Tokyo 135-8548, Japan

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Author Bio:
Chinthaka Premachandra received the B.Sc. and M.Sc. degrees from Mie University, Tsu, Japan in 2006 and 2008 respectively, and the Ph.D. degree from the Nagoya University, Nagoya, Japan, in 2011.
From 2012 to 2015, Dr. Premachandra was an Assistant Professor in the Department of Electrical Engineering, Faculty of Engineering, Tokyo University of Science, Tokyo, Japan. From 2016 to 2017, he was an Assistant in the Department of Electronic Engineering, School of Engineering, Shibaura Institute of Technology, Tokyo, Japan. In 2018, he was promoted to Associate Professor in the Department of Electronic Engineering, Graduate School of Engineering, Shibaura Institute of Technology. In addition, he is the manager of Image Processing and Robotic Lab at the same department. His lab conducts research in two main fields:image processing and robotics. Former research includes computer vision, pattern recognition, speed up image processing, and camera based intelligent transportation systems, while latter fields include terrestrial robotic systems, flying robotic systems, and integration of terrestrial robot and flying robot.
He is the member of IEEE, IEICE (Japan), SICE (Japan) and SOFT (Japan). (email: chintaka@sic.shibaura-it.ac.jp)

Masahiro Otsuka received the B.Sc. and M.Sc. degrees from the Tokyo University of Science, Tokyo, Japan in 2014 and 2016 respectively. He is currently working in Daifuku Inc., Japan as an Engineer. His research interests include image processing and aerial robotics. (email: watashidesu1209@gmail.com)

Ryo Gohara received the B.S degree in electrical engineering from Tokyo University of Science, Tokyo, Japan, in 2015.
From 2016 to 2017, he was a M.S student in Department of Electrical Engineering, Graduate School of Engineering, Tokyo University of Science, Tokyo, Japan. His research interests include robotics and intelligent transport systems. (email: j4311045@ed.tus.ac.jp)

Takao Ninomiya received the B.S degree in electrical engineering from Tokyo University of Science, Tokyo, Japan, in 2016.
From 2017 to 2018, he was a M.S degree in Department of Electrical Engineering, Graduate School of Engineering, Tokyo University of Science, Tokyo, Japan. His research interests include image processing and aerial robotics. (email: reqza.t.n.a.s@gmail.com)

Kiyotaka Kato (M'10) received the B.S. degree from Waseda University, Tokyo, Japan in 1978. From 1978 to 2000, he was a Researcher in Mitsubishi Electric Cooperation, Japan. From 2000, He has been Professor in the Department of Electrical Engineering, Graduate School of Engineering, Tokyo University of Science, Tokyo, Japan.
He is member of IEEE, The Japan Society for Precision Engineering and The Society of Instrument and Control Engineers, Japan. His research interests include aerial robotics, factory automation, numerical control, modeling, virtual reality and computer graphics. (email: kato@ee.kag.tus.ac.jpgeometric)
Corresponding author: Chinthaka Premachandra, e-mail: chintaka@sic.shibaura-it.ac.jp
Received Date: 2017-12-04
Accepted Date: 2018-03-22

Abstract

Abstract

To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However, less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.
- Ground movement/flight control,
- hybrid aerial/terrestrial robot,
- obstacle avoidance by flight,
- obstacle recognition

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References(39)

References

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A Study on Development of a Hybrid Aerial/Terrestrial Robot System for Avoiding Ground Obstacles by Flight

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