Development of a Networked Robotic System for Disaster Mitigation, -Navigation System based on 3D Geometry Acquisition

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

doi:10.1109/iros.2006.282357

Cited by 12 publications

(5 citation statements)

References 6 publications

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“…The assumed concept is that since the HOKUYO sensor is 2D laser rangefinder, it is needed to add one more axis to provide 3D scanning. The most common way is adding a rotating mechanism in an axis different from that of the rangefinder scanning axis [3,4,5].…”

Section: Range Sensor and Common Scanning Methodsmentioning

confidence: 99%

Design and Implementation of a 3D Range Scanner for Mobile Robots

Aslan

Konukseven

Koku

2013

KEM

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In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scanning platform based on a 2D laser rangefinder was designed in compact way for fast and accurate mapping with maximum field of view. The range finder is rotated around the vertical axis to extract the 3D indoor information. However, the scanner is designed to be placed in any direction on a mobile robot. The designed mechanism provides 360º degree horizontal by 240º degree vertical field of view. The maximum resolution is 0.36º degrees in elevation and variable in azimuth (0.1 degrees if scanning platform is set to complete a 360º degree rotation in 3.6 seconds). The proposed low cost compact design is tested by scanning a physical environment with known dimensions to show that it can be used as a precise and reliable high quality 3D sensor for autonomous mobile robots.

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Section: Range Sensor and Common Scanning Methodsmentioning

confidence: 99%

Design and Implementation of a 3D Range Scanner for Mobile Robots

Aslan

Konukseven

Koku

2013

KEM

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“…Vargas and his colleagues [3] constructed three cooperative mobile robots capable of detecting casualties in disasters. From another perspective, Birk and his colleagues [4] developed a rescue robot to examine a collapsing building in city areas and find victims.…”

Section: B Related Workmentioning

confidence: 99%

On the design and development of a rough terrain robot for rescue missions

Suthakorn

Shah

Jantarajit

et al. 2009

2008 IEEE International Conference on Robotics and Biomimetics

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Rescue Robots play an important role during rescue missions in disasters such as 9/11, which caused more than 2,000 deaths and thousands of injuries. However, tele-operating rescue robots are unable to perform their tasks constantly due to the limitation of current wireless communication technology. Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily lost connections to the control base would be ideal. This paper introduces our development of a semi-autonomous rough terrain robot for rescue missions. The robot's hardware components, system architecture, and software architecture are described in order to provide a general overview of our robot. An alternative and comprehensive map-generating algorithm is presented and discussed. Finally, experimental setup and results from a testing arena are reported.Index Terms -rescue robot, rough terrain robot, semiautonomous robot, mobile robot, path planning, SLAM

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“…Vargas et al considered fitting a large, wheeled robot with a long ramp to carry a smaller tracked robot [26]. They suggested that the robots could be fitted with wireless LAN (local area network) cameras and laser range finders for remote control.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR

et al. 2020

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In this paper we present a wheeled robot platform for child-parent robot collaboration. The new robot, named Big STAR (BSTAR), is fitted with a tail that can act as a ramp to carry and deploy a child RSTAR that can crawl between small cracks and underneath obstacles. Both robots possess sprawling capabilities inspired from insects, enabling them to transform their external geometry and dynamics to overcome a variety of obstacles. The BSTAR can travel at speeds of up to 1.4 m/s, carry payloads of more than five kilograms and travel over rough terrains. The collaboration between the two robots substantially increases their navigability and their capability to overcome obstacles. It increases their working distance and scouting area since the larger robot can act as a charging point for the smaller one. We first describe the design of the newly developed parent BSTAR robot and provide a kinematic and dynamic analysis that determines the force requirements of the robots when collaborating, followed by an evaluation of their mechanical and electrical requirements. We show that under multiple challenging scenarios the robot pair can successfully overcome a variety of obstacles.

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Development of a Networked Robotic System for Disaster Mitigation, -Navigation System based on 3D Geometry Acquisition

Cited by 12 publications

References 6 publications

Design and Implementation of a 3D Range Scanner for Mobile Robots

Design and Implementation of a 3D Range Scanner for Mobile Robots

On the design and development of a rough terrain robot for rescue missions

Design and Modeling of a Parent Big STAR Robot Platform That Carries a Child RSTAR

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