Autonomous system for data collection: Location and mapping issues in post-disaster environment
Autonomous system for data collection: Location and mapping issues in post-disaster environment
复制标题
数据收集自主系统：灾后环境中的定位和绘图问题
DOI：
10.1016/j.crhy.2019.03.001
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
J. Isnard
中科院分区：
文献类型：
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作者：
T. Tanzi;J. Isnard
救灾需要很多资源。根据每个事件的情况，迅速选择适当的手段来应对紧急干预是很重要的。对条件和手段的简要审查表明，独立自主的机器对这些飞行任务是有用的。如果存在许多技术和工艺，那么实现这样的系统的它们的相关组合提出了若干挑战。本文试图概述在这些特定情况下自动驾驶汽车的可能成就。本文关注的是特定的工作条件，并欢迎机器人技术和人工智能的未来贡献。在本文有限的范围内，作者专注于一个特别关键的方面：位置。事实上，这台机器的目的是在异构和危险的环境中发展，没有任何外部接触，可能持续数天。由于电磁波在地面中的传播困难，这种停电导致定位过程的独立性，并使任何无线电导航支持系统（GNSS）的使用在大多数情况下都是不可能的。必须能够在没有外部系统帮助的情况下估计系统位置，包括自主系统（漫游车）的导航和目标（埋在碎片下的受害者）的位置。惯性经典技术、里程表等，必须在没有外部支持的情况下长期适应这些条件。这些技术还必须考虑到能源优化要求使用低功耗处理器。因此，只有穷人的计算能力是可用的onboard.The文章开始介绍的情况下，灾后的情况，以及搜索和救援（SaR）的主要任务。其次，分析了位于震后情况下的自主导航。然后，我们将讨论确定自治系统的态度及其位置的方法。将评估与外部系统混合的兴趣-只要有可能-以期纠正系统在其使命期间所遭受的偏差。最后，对今后的工作进行了展望。
Disaster relief requires many resources. Depending on the circumstances of each event, it is important to rapidly choose the suitable means to respond to the emergency intervention. A brief review of the conditions and means demonstrated the usefulness of an autonomous stand-alone machine for these missions. If many techniques and technologies exist, their relevant combination to achieve such a system presents several challenges. This communication tries to outline the possible achievement of an autonomous vehicle under these particular circumstances. This paper focuses on the specific working conditions and welcomes future contributions from robotics and artificial intelligence.In the necessarily limited scope of this article, the authors focus on a particularly critical aspect: location. Indeed, this machine is intended to evolve in heterogeneous and dangerous environment and without any outside contacts that could last up to several days. This blackout, due to the propagation difficulties of electromagnetic waves in the ground, induces an independence of the localisation process and makes the use of any radio navigation support system (GNSS), most of the time, impossible. The knowledge of the position of the system, both for navigation of the autonomous system (Rover) and location of targets (victims buried under debris) must be able to be estimated without contributions from external systems. Inertial classical techniques, odometer, etc., have to be adapted to these conditions during a long period without external support. These techniques also have to take into account that energy optimisation requests the use of low-power processors. Consequently, only poor computing capacity is available on-board.The article starts with a presentation of the context of a post-disaster situation as well as the main missions of Search and Rescue (SaR). It is followed by the analysis of autonomous navigation located in a post-earthquake situation. We will then discuss means to determine the attitude of the autonomous system and its position. The interest of hybridisation with external systems – whenever possible –, will be evaluated with a view to correcting deviations suffered by the system during its mission. Finally, prospects and future work are presented.