Tree formation multi-robot system for victim search in a devastated indoor space
Tree formation multi-robot system for victim search in a devastated indoor space
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用于在受灾室内空间搜索受害者的树形多机器人系统
DOI：
10.1109/iros.2004.1389539
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Y. Tamura
中科院分区：
文献类型：
--
作者：
Y. Matsuo;Y. Tamura
提出并描述了一种名为“S3 RoboNet：self spreading search robot network”的新方案，该方案采用多机器人系统在大地震后的倒塌建筑物内等被破坏的室内空间中搜索受害者。在该方案中，多个移动的机器人智能体自主地组成并扩展一个虚拟网络，网络中每对相邻的节点智能体之间的距离保持在一定的范围内，从而保持彼此的定位。该网络实际上由自己组成一个拓扑搜索地图，并产生一个人工速度势，以驱动自由代理向未探索的区域，并使节点代理尽可能地在它们之间传播链接。因此，网络仅通过在位于要搜索的空间的入口处的树的根处添加新的自由或节点代理来扩展自身。文中介绍了该方案的概念和算法，并通过仿真分析了其可行性和基本性能，讨论了其有效性和存在的问题。
A new scheme called "S3 RoboNet: self spreading search robot network" is proposed and described, which employs a multi-robot system to search for victims in a devastated indoor space such as inside of a collapsed building right after a large earthquake. In this scheme, numerous mobile robot agents form and expand a virtual network autonomously, in which the distance between every pair of adjacent node agents are kept within a limit so that they can keep locating each other. The network virtually composes a topological search map by itself and generates an artificial velocity potential in order to drive free agents towards unexplored regions and to make node agents spread links among them as far as possible. Thereby, the network spreads itself only by adding a new free or a node agent at the root of the tree located at the entrance of the space to be searched. The concepts and the algorithms of the present scheme are described and its feasibility and essential performance are analyzed by simulation, and both effectiveness and current problems are discussed.