Design and control of a tracked robot for search and rescue in nuclear power plant

Pengfei, Dong; Wang, Xuezhu; Xing, Hongjun; Liu, Yiqun; Zhang, Meiling

doi:10.1109/icarm.2016.7606941

Cited by 21 publications

(11 citation statements)

References 11 publications

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“…Teleoperation is an important way to control the mobile platform and the robotic arm [17,18]. In this paper, a teleoperation framework is developed based on V-REP.…”

Section: Software Architecturementioning

confidence: 99%

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Guo

et al. 2022

IET Cyber-Syst and Robotics

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This study presents the overall architecture of HeterBot, a heterogeneous mobile manipulation robot developed in our lab, which is designed for versatile operation in hazardous environments. The most significant feature of HeterBot is the heterogeneous design created by adopting the idea of 'big arm + small arm' and 'big car + mini car'. This combination has the advantage of functional complementation, which achieves performance promotion in both locomotion and manipulation capabilities, making HeterBot distinguished from other mobile manipulation robots. Besides, multiple novel technologies are integrated into HeterBot to expand its versatility and ease of use, including Virtual Robot Experimentation Platform-based teleoperation, reconfigurable end effectors, laseraided grasping, and manipulation with customised tools. Experimental results validate the effectiveness of HeterBot in various locomotion and manipulation tasks. HeterBot displays huge potential in future applications, such as searching and rescue.

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“…Teleoperation is an important way to control the mobile platform and the robotic arm [17,18]. In this paper, a teleoperation framework is developed based on V-REP.…”

Section: Software Architecturementioning

confidence: 99%

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Guo

et al. 2022

IET Cyber-Syst and Robotics

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“…These types of complex environments require locomotion systems with high mobility and crossing capacity. In the literature a distinction is made between wheeled robots (Mei et al 2019), tracked robots (Dong et al 2016), walking robots (Hereid et al 2016), and hybrid robots (Ando et al 2017). The control of such robots requires the correct evaluation of the soil strength on which the robot evolve.…”

Section: Introductionmentioning

confidence: 99%

Soil profile analysis based on the identification of the bevametric parameters using cone penetrometer

Majdoubi

Masmoudi²,

Elharif³

2022

J. Agric. Eng.

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The navigation in a deformable soil is related to the determination of traction and motion resistance via the soil strength. This strength is a function of parameters that are usually estimated using the bevameter tool. However, this tool is not usually available, hence the usage of another tool called cone penetrometer. In this study a new relationship was developed to estimate the bevameter parameters. This relation combines all bevameter parameters; (shear strength parameters and load penetration parameters), with a measurement called cone index. This equation is compared to another equation existing in the literature, that use only the load penetration parameters as a function of cone index, and then validated using experimental data obtained from Waterways Experiment Station (WES). The result shows that our equation is optimal compared to others existing in the literature. Finally, this equation is used to find all bevametric parameters of the soil inside the greenhouse strawberries.

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“…This kind of system has the prospect of finding wide applications in military, industrial production, traffic control, and other fields, 1 such as border patrol, reconnaissance, and surveillance expeditions, 2,3 investigating and monitoring, searching and rescue, as well as navigating and tracking. [4][5][6][7][8] In the field of logistics, after being transported to the distribution sites by UGVs, materials can be next delivered by UAVs to their customers much more quickly. 9 The UAVs and UGVs can collaborate to build 3D maps 10 and perform tasks such as patrol, traffic monitoring, and aerial photography.…”

Section: Introductionmentioning

confidence: 99%

Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots

Chen¹,

Ren²,

Chen³

et al. 2019

Robotica

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SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.

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Design and control of a tracked robot for search and rescue in nuclear power plant

Cited by 21 publications

References 11 publications

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Soil profile analysis based on the identification of the bevametric parameters using cone penetrometer

Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots

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