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Title: Autonomous stair climbing for mobile tracked robot
Authors: Zhang, Q. 
Ge, S.S. 
Tao, P.Y.
Keywords: Autonomous Stair Climb
Intelligent Control
Issue Date: 2011
Citation: Zhang, Q.,Ge, S.S.,Tao, P.Y. (2011). Autonomous stair climbing for mobile tracked robot. 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 : 92-98. ScholarBank@NUS Repository.
Abstract: In this paper, we consider the problem of overcoming a flight of stairs in an uncertain environment with an autonomous tracked robot. A complete autonomous stair climbing module is developed which handles a number of tasks involved in stair climbing and a divide and conquer approach is adopted where the stair climbing challenge is further divided into several individual tasks such as stairs detection in an uncertain environment, intelligent climbing control to overcome the stairs, detection of the end of the stairs and the subsequent landing procedure to prevent damage to the onboard devices. A fuzzy control is developed and experimental results obtained have clearly illustrated the effectiveness of the proposed approach. © 2011 IEEE.
Source Title: 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011
ISBN: 9781612847696
DOI: 10.1109/SSRR.2011.6106757
Appears in Collections:Staff Publications

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