Казанский (Приволжский) федеральный университет, КФУ
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RESCUE ROBOT NAVIGATION: STATIC STABILITY ESTIMATION IN RANDOM STEP ENVIRONMENT
Форма представленияЗарубежные монографии
Год публикации2008
Языканглийский
  • Магид Евгений Аркадьевич, автор
  • Библиографическое описание на языке оригинала Evgeni Magid, Kentaro Ozawa, Takashi Tsubouchi, Eiji Koyanagi, Tomoaki Yoshida. Rescue Robot Navigation: Static Stability Estimation in Random Step Environment. Lecture Notes In Artificial Intelligence, Vol. 5325, Proceedings of International Conference on Simulation, Modeling, and Programming for Autonomous Robot (SIMPAR 2008), Venice, Italy, November 3-7, 2008, pp. 305-316.
    Аннотация Rescue robotics is the application of robotics to the search and rescue domain. The goal of rescue robotics is to extend the capabilities of human rescuers while also increasing their safety. During the rescue mission the mobile robot is deployed on the site, while the human operator is monitoring the robot?s activities and giving the orders from a safe place. Thus the operator can not see the robot and the environment and a decision on the robot?s path selection becomes very hard. Our goal is to provide a kind of automatic ?pilot system? to propose an operator a good direction or several options to traverse the environment, taking into account the robot?s static and dynamic properties. In this paper we present an algorithm for estimating the posture of the robot in a specific configuration from the static equilibrium point of view. The results obtained by the simulator agree with our prior expectations and were successfully confirmed by the set of experiments with a real robot.
    Ключевые слова Rescue Robot, Navigation, Static Stability, Random Step Environment
    URL http://link.springer.com/chapter/10.1007/978-3-540-89076-8_30
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