КФУ. Карточка публикации. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle

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CONTROLLED BALANCE LOSING IN RANDOM STEP ENVIRONMENT FOR PATH PLANNING OF A TELEOPERATED CRAWLER TYPE VEHICLE

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2011

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Magid E. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle / Tsubouchi T., Koyanagi E., Yoshida T., Tadokoro S. // Journal of Field Robotics. - 2011. - Vol. 28(6). - p. 932-949.

Аннотация

Journal of Field Robotics

Ключевые слова

Robotics, path planning

Название журнала

Journal of Field Robotics

URL

https://dl.acm.org/doi/10.1002/rob.20406

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https://repository.kpfu.ru/?p_id=257650

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2011_Controlled_Balance_Losing_in_Random_Step_Environment_for_Path_Planning_of_a_Teleoperated_Crawler_Type.pdf	1,94	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2011-01-01T00:00:00Z	ru_RU
dc.date.available	2011-01-01T00:00:00Z	ru_RU
dc.date.issued	2011	ru_RU
dc.identifier.citation	Magid E. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle / Tsubouchi T., Koyanagi E., Yoshida T., Tadokoro S. // Journal of Field Robotics. - 2011. - Vol. 28(6). - p. 932-949.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=257650	ru_RU
dc.description.abstract	Journal of Field Robotics	ru_RU
dc.description.abstract	Rescue robotics is the application of robotics to the search and rescue domain, aimed at extending the capabilities and increasing the safety of the rescuers. Deployed on a site during a rescue mission, a mobile robot is teleoperated by a human operator from a safe place. To suggest to the operator a good direction to traverse the three-dimensional (3D) debris environment, we develop a pilot system, which requires a special path search algorithm on debris and a proper definition of a search tree. Although the main goal of the algorithm is to keep the robot maximally stable at every step of its path, in some cases we need the robot to change a 3D orientation discontinuously through losing its balance. Losing balance on purpose is an essential feature for safe climbing up and going down debris, and it is the central issue of this paper. Exhaustive simulations were used to structure and analyze data. Experiments with a real robot verified our approach to removing unsuitable search directions from the search tree and gave important feedback to the algorithm.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	path planning	ru_RU
dc.title	Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU