Development of a Networked Robotic System for Disaster Mitigation
Development of a Networked Robotic System for Disaster Mitigation
复制标题
开发用于减灾的网络机器人系统
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
O. Takizawa
中科院分区：
文献类型：
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作者：
K. Nagatani;Kazuya Yoshida;K. Kiyokawa;Y. Yagi;T. Adachi;H. Saito;Toshiya Suzuki;O. Takizawa
本文介绍了“减灾网络机器人系统”的研究项目。该项目旨在开发通过无线通信网络（包括卫星通信链路）远程操作多个机器人的关键技术，以便在灾难现场执行监视任务。机器人系统由一个大型室外机器人和一组小型室内机器人组成。大型机器人将作为小型机器人的载体，部署在部分倒塌的建筑物内。一个三维范围传感器和一个全向摄像头被用作工具，以减轻人类操作员的遥操作。本文介绍了使命的情况下，建议的网络化多机器人系统的发展现状。性能测试的结果也被报告。
In this paper, the research project named “networked robotic system for disaster mitigation” is introduced. The project aims to develop key technologies for multiple robots to be teleoperated through a wireless communication network, which includes a satellite communication link, for surveillance tasks at a disaster site. The robotic system consists of a large-scale outdoor robot and a group of smaller indoor robots. The large-scale robot will serve as a carrier for the smaller robots which are deployed inside a partly-collapsed building. A three-dimensional range sensor and an omnidirectional camera are used as tools to ease the teleoperation for the human operator. This paper presents the mission scenario and the development status of the proposed networked multi-robotic system. The results of the performance tests are also reported.