Test arenas and performance metrics for urban search and rescue robots
Test arenas and performance metrics for urban search and rescue robots
复制标题
城市搜救机器人的测试场地和性能指标
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
Y. Nakagawa
中科院分区：
文献类型：
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作者：
Adam Jacoff;E. Messina;B. Weiss;S. Tadokoro;Y. Nakagawa
在本文中，我们讨论了发展和扩散的机器人测试舞台，提供有形的，现实的，和具有挑战性的环境，移动的机器人研究人员感兴趣的城市搜索和救援应用和其他非结构化环境。这些领域允许直接比较机器人方法，客观的性能评估，并最终为现场可用的机器人系统提供试验场，例如在世界贸易中心倒塌时使用的机器人系统。使用这些竞技场的国际机器人比赛要求机器人通过复杂和倒塌的结构，找到模拟的受害者，并生成人类可读的环境地图。一个性能指标，量化了几个相关的机器人的能力，并产生一个整体得分用于评估和比较机器人的实现。未来的发展方向的竞技场和比赛也进行了讨论。
In this paper, we discuss the development and proliferation of robot test arenas that provide tangible, realistic, and challenging environments for mobile robot researchers interested in urban search and rescue applications and other unstructured environments. These arenas allow direct comparison of robotic approaches, objective performance evaluation, and can ultimately provide a proving ground for field-able robotic systems such as those used at the World Trade Center collapse. International robot competitions using these arenas require robots to negotiate complex and collapsed structures, find simulated victims, and generate human readable maps of the environment. A performance metric is presented which quantifies several pertinent robot capabilities and produces an overall score used to evaluate and compare robotic implementations. Future directions for the arenas and the competitions are also discussed.