Abstract
The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescuers. During a rescue mission a mobile agent enters a rescue site and it is manipulated by a human operator from a safe place. Without seeing the robot and the environment, a decision on the path selection is very complicated. Our long term research goal is to provide a kind of automatic “pilot system” to propose an operator a good direction to traverse the environment, taking into an account the robot’s static and dynamic properties.
To find a good path we need a special path search algorithm on debris and a proper definition of a search tree, which can ensure smooth exploration. In this paper we present our results in estimation of the transition possibilities between two consecutive states, connected with a rotation step. Exhaustive simulations were used to analyze data and to remove unsuitable directions of the search from the search tree. Combining together the results of this paper and our previous results on a translation step and estimation of losing balance on purpose within Random Step Environment, we can now build a search tree and continue toward the path planning process.
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
Bret, T., Lall, S.: A Fast and Adaptive Test of Static Equilibrium for Legged Robots. In: IEEE ICRA 2006, pp. 1109–1116 (2006)
Cormen, T., Leiserson, C., Rivest, R., Stein, C.: Introduction to Algorithms, 2nd edn. The MIT Press/McGraw-Hil (2001)
Hirose, S., Tsukagoshi, H., Yoneda, K.: Normalized energy stability margin: generalized stability criterion for walking vehicles. In: Proc. of 1st Int.Conf. On Climbing and Walking Robots, Brussels, pp. 71–76 (1998)
Jacoff, A., Messina, E., Evans, J.: Experiences in Deploying Test Arenas for Autonomous Mobile Robots. In: Proc. of the 2001 PerMIS Workshop, in association with IEEE CCA and ISIC, Mexico City, Mexico (2001)
Latombe, J.C.: Robot Motion Planning. Kluwer Academic Publishers, USA (1991)
Magid, E., Ozawa, K., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Rescue Robot Navigation: Static Stability Estimation in Random Step Environment. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2008. LNCS (LNAI), vol. SIMPAR, pp. 305–316. Springer, Heidelberg (2008)
Magid, E., Tsubouchi, T.: Static Balance for Rescue Robot Navigation: Translation Motion Discretization Issue within Random Step Environment. In: Proc. of ICINCO, Madeira, Portugal, pp. 305–316 (2010)
Magid, E., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Static Balance for Rescue Robot Navigation: Losing Balance on Purpose within Random Step Environment. In: Proc. of IEEE IROS, Taipei, Taiwan (accepted, 2010)
Sheh, R., Kadous, M., Sammut, C., Hengst, B.: Extracting Terrain Features from Range Images for Autonomous Random Stepfield Traversal. In: IEEE Int. Workshop on Safety, Security and Rescue Robotics, Rome, pp. 1–6 (September 2007)
Shoval, S.: Stability of a Multi Tracked Robot Traveling Over Steep Slopes. In: IEEE ICRA 2004, vol. 5, pp. 4701–4706 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Magid, E., Tsubouchi, T. (2010). Static Balance for Rescue Robot Navigation: Discretizing Rotational Motion within Random Step Environment. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_39
Download citation
DOI: https://doi.org/10.1007/978-3-642-17319-6_39
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17318-9
Online ISBN: 978-3-642-17319-6
eBook Packages: Computer ScienceComputer Science (R0)