Robot Mapping for Rescue Robots
نویسندگان
چکیده
Rescue robots operate in disaster areas where odometric information is known to be highly unreliable. This paper presents a new approach to odometry independent 2D robot mapping. Scans obtained from different robot positions are assembled to a single global map using alignment based on scan intrinsic information only, namely shape features. The approach detects geometric structures in different scans which are similar by shape and aligns the scans accordingly. The detection of shape similarity is the key to generate global maps even of highly cluttered environments and thus the proposed approach is particularly suitable for applications in the field of rescue robots.
منابع مشابه
Map-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملRobocup Rescue Robot League Competition Awardee Paper Padova ,
IUTMicrobot has focused its researches on Rescue Robots chiefly for 2 years. The goal was implementing robots, to make search and rescue action easier and safer in real condition. The idea was implementing two robots, one fast and small; to catch a global view of disaster and prepare a path sketch, another one slow but with complete set of equipments; to get victims and environment details. NIS...
متن کاملHinomiyagura 2014 Team Description Paper for RoboCup 2014 Rescue Virtual Robot League
This paper describes our team’s recent work and the research agenda for the RoboCup 2014 Rescue Virtual Robot League. We have two goal ; one of them is generating a map by multi-robot, the other one is making a test field to evaluate the performance of the response robot. Creating maps from data measured by mono-robot or multi-robot with ROS was described in a 2013 TDP of our team, and we find ...
متن کاملRescue robotics - A crucial milestone on the road to autonomous systems
Rescue robotics is an important steppingstone in the scientific challenge to create autonomous systems. There is a significant market for rescue robots, which has unique features that allow a fruitful combination of application oriented developments and basic research. Unlike other markets for advanced robotics systems like service robots, the rescue robotics domain benefits from the fact that ...
متن کاملCoordination Strategies for Multi-robot Exploration and Mapping
Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for this application; however, teleoperation is increasingly difficult as the number of robots is expanded. As the number of robots is increased, each robot may interfere with one another and eventually decrease mapp...
متن کامل