A semi-autonomous tracked robot system for rescue missions

Daniele Calisi, Daniele Nardi, Kazunori Ohno, Satoshi Tadokoro

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
ページ2066-2069
ページ数4
DOI
出版ステータスPublished - 2008 12 1
イベントSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
継続期間: 2008 8 202008 8 22

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

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