A semi-autonomous tracked robot system for rescue missions

Daniele Calisi, Daniele Nardi, Kazunori Ohno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper we describe our work in integrating the results of two previous researches carried on on two different robots. Both robots are designed to help human operators in rescue missions. In the first case, a wheeled robot has been used to develop some software modules. These modules provide the capabilities for autonomously explore an unknown environment and build a metric map while navigating. The second system has been designed to face more challenging scenarios: the robot has tracks and flippers, and features a semi-autonomous behavior to overcome small obstacles and avoid rollovers while moving on debris and unstructured ground. We show how the set of software modules of the first system has been installed on the tracked robot and merged with its semi-autonomous behavior algorithm, and we discuss the results of this integration with a set of experiments.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages2066-2069
Number of pages4
DOIs
Publication statusPublished - 2008 Dec 1
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 2008 Aug 202008 Aug 22

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period08/8/2008/8/22

Keywords

  • Autonomy
  • Rescue mission
  • Tracked robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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