Multirobot exploration for search and rescue missions: A report on map building in RoboCupRescue 2009
Multirobot exploration for search and rescue missions: A report on map building in RoboCupRescue 2009
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DOI：
10.1002/rob.20389
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发表时间：
2011-05
影响因子：
8.3
通讯作者：
K. Nagatani;Yoshito Okada;N. Tokunaga;Seiga Kiribayashi;Kazuya Yoshida;K. Ohno;E. Takeuchi;Satoshi Tadokoro;Hidehisa Akiyama;Itsuki Noda;Tomoaki Yoshida;E. Koyanagi
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文献类型：
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作者：
K. Nagatani;Yoshito Okada;N. Tokunaga;Seiga Kiribayashi;Kazuya Yoshida;K. Ohno;E. Takeuchi;Satoshi Tadokoro;Hidehisa Akiyama;Itsuki Noda;Tomoaki Yoshida;E. Koyanagi
在未来，移动机器人可能能够协助救援人员在由自然或人为灾害造成的危险环境中进行搜索和救援任务。2006年，我们启动了一个研究项目，开发能够在灾难初期迅速收集信息的移动机器人。我们的一个重要目标是三维（3D）测绘，这是一个非常有用的工具，可以帮助救援人员制定救援任务的战略。为了实现这种3D制图，我们确定了需要解决的五个问题：(1)不平坦地形的自主穿越；(2)开发连续获取环境3D数据的系统；(3)覆盖路径规划；(4)多机器人获取的地图数据集中；(5)多机器人获取的地图数据融合。我们通过共同研究解决了每一个问题。我们小组的每个研究所根据各自的专业领域分别负责解决上述一个问题。我们将这些解决方案集成在一起，使用我们的履带式车辆Kenaf进行3D绘图。为了验证我们的集成自主3D测绘系统，我们参加了RoboCupRescue 2009，并在RoboCupRescue现场使用多个机器人演示了我们的系统。在本文中，我们介绍了我们的测绘系统，并报告了在RoboCupRescue活动中获得的测绘结果。©2011 Wiley期刊公司
In the future, mobile robots may be able to assist rescue crews in search and rescue missions that take place in the dangerous environments that result from natural or man‐made disasters. In 2006, we launched a research project to develop mobile robots that can rapidly collect information in the initial stages of a disaster. One of our important objectives is three‐dimensional (3D) mapping, which can be a very useful tool for assisting rescue crews in strategizing rescue missions. To realize this 3D mapping, we identified five issues that we needed to address: (1) autonomous traversal of uneven terrain, (2) development of a system for the continuous acquisition of 3D data of the environment, (3) coverage path planning, (4) centralization of map data obtained by multiple robots, and (5) fusion of map data obtained by multiple robots. We solved each problem through our joint research. Each research institute in our group took charge of solving one of the above issues according to its area of expertise. We integrated these solutions to perform 3D mapping using our tracked vehicle, Kenaf. To validate our integrated autonomous 3D mapping system, we participated in RoboCupRescue 2009 and demonstrated our system using multiple robots on the RoboCupRescue field. In this paper, we introduce our mapping system and report the mapping results obtained at the RoboCupRescue event. © 2011 Wiley Periodicals, Inc.