Sensor Driven Multiple Robot Mapping and Exploration

传感器驱动的多机器人测绘和探索

• 批准号: RGPIN-2015-05930
• 负责人: Li, Howard
• 金额: $ 1.82万
• 依托单位: University of New Brunswick
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=681133
• 关键词: Sensor; Driven; Multiple; Robot; Mapping

In the future, robots will be used to assist rescue crews in search and rescue missions after disasters. Affordable robots can be quickly deployed and used in dangerous situations to locate survivors and send data about their whereabouts to first responders. The proposed NSERC Discovery program focuses on an emerging market: novel robotics mapping and exploration technologies for emergency responders. ******Robots are widely used to perform tasks that are too dirty or dangerous for humans. Sensing, localization and exploration in unknown environments are key issues to be addressed for real-world robotics applications. Simultaneous Localization And Mapping (SLAM) is a process in which an unknown environment is explored and mapped consistently by a robot. With the rapid development of robotics technologies, robots need to work in teams with other robots to share information and coordinate activities. Significant research is in progress to support the perception and decision-making process for multiple-robot systems. Multiple-robot SLAM has benefits such as being more robust to failures and being faster in exploring and mapping unknown environments. The proposed five-year research program will focus on developing novel sensor driven cooperative exploration and 3D mapping technologies for multiple heterogeneous robots. ******The following problems will be investigated: sensing, mapping, planning, and control for multiple robots. Multiple robots must sense the surroundings, fuse the data, and interpret them in a useful way. Then the robots need to map the unknown environment and localize themselves in the environment. Next, robots must plan paths in order to explore the area and accomplish the mission. Finally, robots must control themselves so as to implement the decisions.******With the support of the previous NSERC Discovery Grant program, the applicant's research group has developed robotics technologies for real-world air, ground, and maritime applications. For the proposed research program, the research group will conduct cutting-edge research on multiple robots and address new challenges. Multiple robots equipped with cameras and laser sensors can provide enhanced situation awareness. The expected outcome of this research program is novel 3D exploration and mapping technologies that can be used to assist emergency responders in rapid information gathering.******The results of this NSERC Discovery program will have significant and lasting benefits to the Province of New Brunswick and Canada by providing cutting-edge research on robotics and unmanned systems. The results will be used for emergency response applications. Furthermore, the research will provide training for highly qualified personnel in the areas of unmanned systems, robotics, mechatronics, control theories, mapping, artificial intelligence, and aerospace, which are highly demanded by Canadian employers.**

未来，机器人将被用于协助救援人员在灾难发生后执行搜救任务。负担得起的机器人可以迅速部署并在危险情况下使用，以定位幸存者并将有关他们下落的数据发送给急救人员。拟议的NSERC发现计划专注于一个新兴市场：面向紧急响应人员的新型机器人测绘和探索技术。机器人被广泛用于执行对人类来说太脏或太危险的任务。感知、定位和在未知环境中的探索是现实世界机器人应用中需要解决的关键问题。同步定位与地图绘制(SLAM)是一个由机器人一致地探索和绘制未知环境的过程。随着机器人技术的快速发展，机器人需要与其他机器人合作，共享信息，协调活动。支持多机器人系统的感知和决策过程的重要研究正在进行中。多机器人SLAM具有更强的抗故障能力，以及更快地探索和映射未知环境等优点。拟议的五年研究计划将专注于开发新的传感器驱动的合作探索和多个异类机器人的3D映射技术。*将研究以下问题：多机器人的传感、映射、规划和控制。多个机器人必须感知周围环境，融合数据，并以有用的方式解释它们。然后机器人需要绘制未知环境的地图，并在环境中定位自己。接下来，机器人必须规划路径，以便探索该区域并完成任务。最后，机器人必须控制自己，以执行决定。*在之前NSERC发现资助计划的支持下，申请者的研究小组开发了用于现实世界空中、地面和海上应用的机器人技术。对于拟议的研究计划，研究组将对多个机器人进行尖端研究，并应对新的挑战。配备摄像头和激光传感器的多个机器人可以提供增强的态势感知。这项研究计划的预期成果是新颖的3D探索和测绘技术，可用于帮助应急人员快速收集信息。*NSERC发现计划的结果将通过提供关于机器人和无人系统的尖端研究，为新不伦瑞克省和加拿大带来重大和持久的好处。结果将用于应急响应应用。此外，该研究将在加拿大雇主高度需求的无人系统、机器人、机电一体化、控制理论、测绘、人工智能和航空航天领域为高素质人员提供培训。