Robust Human Tracking of a Crawler Robot
| Autor: | Takanori Fukao, Yasuaki Orita |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
General Computer Science business.industry Computer science 02 engineering and technology Tracking (particle physics) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Inverse optimal control Computer vision Artificial intelligence Electrical and Electronic Engineering business Web crawler |
| Zdroj: | Journal of Robotics and Mechatronics. 31:194-202 |
| ISSN: | 1883-8049 0915-3942 |
| DOI: | 10.20965/jrm.2019.p0194 |
| Popis: | Carrying out firefighting activities at disaster sites is extremely difficult. Therefore, robots that support and enhance these operations are required. In this paper, a crawler robot that tracks the moving path of a firefighter is proposed. It is commonly believed that trained firefighters select the best route; thus, it was assumed that this route is the easiest for the crawler robot as well. Using two 3D light detection and ranging sensors, once the firefighter’s coordinates are detected, the coordinates are combined with 3D simultaneous localization and mapping results, then a target path is generated. The crawler robot follows the path using inverse optimal tracking control. The controller has a stability margin that guarantees robustness, which is an ideal property for disaster response robots used in severe conditions. The results of several experiments show that the proposed system is effective and practical for the crawler robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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