Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment

Autor:	Evgeni Magid, Eiji Koyanagi, Takashi Tsubouchi, Tomoaki Yoshida
Rok vydání:	2011
Předmět:	Pilot system Rescue robot Engineering General Computer Science Discretization business.industry Robot Artificial intelligence Electrical and Electronic Engineering business Search tree
Zdroj:	Scopus-Elsevier
ISSN:	1883-8049 0915-3942
Popis:	Rescue robotics applies search and rescue robots to expand rescue capabilities while increasing safety. Mobile robots working at a disaster site are monitored remotely by operators who may not be able to see the site well and select work paths appropriately. Our goal is to provide a “pilot system” that can propose options for traversing 3D debris environments. This requires a special debris path search algorithm and an appropriately defined search tree ensuring smooth exploration. To make a path search feasible in huge real state space we discretize search space and robot movement before a search. In this paper we present path quality estimation and search tree branching functionF, which defines search tree building process online through node opening and branching. Well-defined functionFremoves unsuitable search directions from the search tree and enables dynamic path planning accounting for debris. Exhaustive simulation was used to structure and analyze data. Experiments confirmed the feasibility of our approach.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a261406191b882e49fdcf3a5b6343f10 https://doi.org/10.20965/jrm.2011.p0567 Zobrazit plný text záznamu