ROBHAZ-rescue: rough-terrain negotiable teleoperated mobile robot for rescue mission

IEEE International Safety, Security and Rescue Rototics, Workshop, 2005. Pub Date : 2005-06-06 DOI:10.1109/SSRR.2005.1501248

Sungchul Kang, Woosub Lee, Munsang Kim, K. Shin

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引用次数: 20

Abstract

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. It is designed to carry out military and civilian missions in various hazardous environments. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in travelling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground.

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ROBHAZ-rescue:用于救援任务的粗糙地形移动式遥控机器人

本文介绍了一种新型的链式双轨移动机器人系统ROBHAZ-DT3的设计与集成。它的目的是在各种危险环境中执行军事和民用任务。前后车身之间装有被动适应机构，使ROBHAZ-DT3对包括楼梯在内的不平坦地形具有良好的适应性。被动适应机构减少了在不平坦地形上移动时的能量消耗，设计简单，远程控制简单，不需要作动器进行适应。基于这一新颖的移动平台，开发了配备适当传感器和半自动测绘和定位算法的ROBHAZ-DT3救援版本，以参加RoboCup2004美国公开赛:城市搜索和救援比赛。通过各种现实救援实验，验证了ROBHAZ-DT3在崎岖地形上行驶的可靠性，以及所提出的映射和定位算法在地面不平的非结构化环境下的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.

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