STATIC BALANCE FOR RESCUE ROBOT NAVIGATION - Translation Motion Discretization Issue within Random Step Environment

Evgeni Magid, Takashi Tsubouchi

Abstract

The goal of rescue robotics is to extend the capabilities of human rescuers while also increasing their safety. During the rescue mission mobile robot is deployed on the site and is operated from a safe place by a human. A decision on the robot’s path selection is very complicated, since the operator cannot see the robot and the environment. Our goal is to provide a kind of automatic ”pilot system” to propose the operator a good direction or several options to traverse the environment, taking into account the robot’s static and dynamic properties. To find a good path we need a special path search algorithm on debris. The real state space of the search is extremely huge and to decrease the number of search directions we discretize robot’s motion and the state space before the search. Search algorithm needs a proper definition of node’s neighborhood, which will ensure smooth exploration of the search tree. In this paper we present our results in estimation of the transition possibilities between two consecutive states, connected with a translation step, and discuss the problems arising from the discretization of the state space. Exhaustive simulations were used to structure, analyze and solve the discretization issue problems and help to remove unsuitable directions of the search from the search tree.

References

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Paper Citation


in Harvard Style

Magid E. and Tsubouchi T. (2010). STATIC BALANCE FOR RESCUE ROBOT NAVIGATION - Translation Motion Discretization Issue within Random Step Environment . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 415-422. DOI: 10.5220/0002945404150422


in Bibtex Style

@conference{icinco10,
author={Evgeni Magid and Takashi Tsubouchi},
title={STATIC BALANCE FOR RESCUE ROBOT NAVIGATION - Translation Motion Discretization Issue within Random Step Environment},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={415-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002945404150422},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - STATIC BALANCE FOR RESCUE ROBOT NAVIGATION - Translation Motion Discretization Issue within Random Step Environment
SN - 978-989-8425-01-0
AU - Magid E.
AU - Tsubouchi T.
PY - 2010
SP - 415
EP - 422
DO - 10.5220/0002945404150422