Development of a networked robotic system for disaster mitigation -Navigation system based on 3D geometry acquisition

Andres E.Mora Vargas, Kenzuke Mizuuchi, Daisuke Endo, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

In this paper the authors present the current progress of a networked robotic system intended to be deployed at disaster areas. This system is formed by three mobile robots: two twin crawlers that will have search-and-recognition tasks gathering information about their surroundings, and an outdoor-wheeled rover that will approach the area and which will also carry the two crawlers. The communication system for these robots consists of a wireless local area network that will have an operator located at a safe distance controlling them. As a final communication objective, the integration of a satellite-based IP communication, linked to the Japanese satellite ETS-VIII is scheduled. In order to be able to navigate the crawlers remotely, a wireless LAN camera and a Laser Range Finder (LRF) sensor have been mounted on both of the crawlers. These LRFs will scan the area where the crawler is at, obtaining a detailed point-based 3D image. A special focus of this paper is made on the possibility of maneuvering the crawlers based only on the remotely-acquired LRF and camera's information.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ4821-4826
ページ数6
DOI
出版ステータスPublished - 2006
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域China
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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