Abstract
Paper presents the system that allows the mobile robot to return safely in case of connection lost especially in CBRN environment. Such a difficult work conditions forced using visual navigation as a supporting sensor, since the classical methods may be not applicable. Following article shows the methodology, structure and implementation of autonomous return for mobile platform. The structure of data fusion from divers’ sensors – camera, odometers and IMU, algorithm implementation and results obtained are presented.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Casper, J., Murphy, R.R.: Human–Robot Interaction During the Robot–Assisted Urban Search and Rescue Response at the World Trade Center. Army IEEE Transactions on System, Man, and Cybernetics, Part B: Cybernetics 33(3) (2003)
Port of Seattle Police Dept. Bomb Disposal Unit, SRS Presentation (January 2009)
Messina, E., Jacoff, A.: Performance Standards for Urban Search and Rescue Robots, Intelligent Systems Division. In: Proceedings of the SPIE Defense and Security Symposium, Orlando, FL, April 17-21, National Institute of Standards and Technology, Gaithersburg (2006)
http://www.newsecuritylearning.com/index.php/news/147-virtual-training-for-bomb-disposal-experts
http://www.pica.army.mil/picatinnypublic/news/archive/2011/03-15-11.asp
Schoor, W., Nikolisin, H., Redetzky, A.: Training Simulation of the Manipulator Vehicle tEODor for Explosive Ordnance Disposal (EOD) and Improvised Explosive Device Disposal (IEDD), EADS technical Report
Messina, E., Jacoff, A., Scholtz, J., Schlenoff, C., Huang, H., Lytle, A., Blitch, J.: Statement Of Requirements For Urban Search And Rescue Robot Performance Standards, Department of Homeland Security Science and Technology Directorate (May 2005)
UAV Company Operations, FMFM 3-22-1, Department of the Navy (November 1993)
Pontzer, A., Lower, M., Miller, J.: Unique Aspects of Flight Testing Unmanned Aircraft Systems (April 2010)
Howard, A., Parker, L., Sukhatme, G.: Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection. International Journal of Robotics Research (2006)
Newman, P., Leonard, J., Tardos, D., Neira, J.: Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization (2002)
Głębocki, R., Kicman, P., Kopyt, A.: System Nawigacji I Sterowania Dla Robota Mobilnego Patrolującego Budynki, poster on X Międzynarodowa Konferencja Uzbrojeniowa (September 2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Głębocki, R., Kopyt, A. (2015). The Autonomous Return Control System for Mobile Platform, Used in CBRN Hazards. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Progress in Automation, Robotics and Measuring Techniques. Advances in Intelligent Systems and Computing, vol 351. Springer, Cham. https://doi.org/10.1007/978-3-319-15847-1_8
Download citation
DOI: https://doi.org/10.1007/978-3-319-15847-1_8
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-15846-4
Online ISBN: 978-3-319-15847-1
eBook Packages: EngineeringEngineering (R0)