Казанский (Приволжский) федеральный университет, КФУ
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STATIC BALANCE FOR RESCUE ROBOT NAVIGATION : DISCRETIZING ROTATIONAL MOTION WITHIN RANDOM STEP ENVIRONMENT
Форма представленияРоссийские монографии
Год публикации2010
Языканглийский
  • Магид Евгений Аркадьевич, автор
  • Библиографическое описание на языке оригинала Evgeni Magid, Takashi Tsubouchi. Static Balance for Rescue Robot Navigation : Discretizing Rotational Motion within Random Step Environment. Lecture Notes In Artificial Intelligence, Vol. 6472, Proceedings of International Conference on Simulation, Modeling, and Programming for Autonomous Robot (SIMPAR 2010), Darmstadt, Germany, November 15-18, 2010, pp. 423-435
    Аннотация The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescuers. During a rescue mission a mobile agent enters a rescue site and it is manipulated by a human operator from a safe place. Without seeing the robot and the environment, a decision on the path selection is very complicated. Our long term research goal is to provide a kind of automatic ?pilot system? to propose an operator a good direction to traverse the environment, taking into an account the robot?s static and dynamic properties. To find a good path we need a special path search algorithm on debris and a proper definition of a search tree, which can ensure smooth exploration. In this paper we present our results in estimation of the transition possibilities between two consecutive states, connected with a rotation step. Exhaustive simulations were used to analyze data and to remove unsuitable directions of the search from the search tree.
    Ключевые слова Static Balance, Rescue Robot, Navigation, Random Step Environment
    URL http://link.springer.com/chapter/10.1007%2F978-3-642-17319-6_39
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