On the design and development of a rough terrain robot for rescue missions

Author

Suthakorn, J. ; Shah, S.S.H. ; Jantarajit, S. ; Onprasert, W. ; Saensupo, W. ; Saeung, S. ; Nakdhamabhorn, S. ; Sa-Ing, V. ; Reaungamornrat, S.

Author_Institution

Fac. of Eng., Mahidol Univ., Salaya

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1830

Lastpage

1835

Abstract

Rescue robots play an important role during rescue missions in disasters such as 9/11, which caused more than 2,000 deaths and thousands of injuries. However, tele-operating rescue robots are unable to perform their tasks constantly due to the limitation of current wireless communication technology. Therefore, rescue robots with the capability of performing their tasks autonomously during temporarily lost connections to the control base would be ideal. This paper introduces our development of a semi-autonomous rough terrain robot for rescue missions. The robot´s hardware components, system architecture, and software architecture are described in order to provide a general overview of our robot. An alternative and comprehensive map-generating algorithm is presented and discussed. Finally, experimental setup and results from a testing arena are reported.

Keywords

control system synthesis; path planning; telerobotics; autonomous rescue robot; map-generating algorithm; rescue missions; robot hardware components; robot software architecture; robot system architecture; semi-autonomous rough terrain robot; tele-operating rescue robots; Biomedical engineering; Biomimetics; Communication system control; Earthquakes; Intelligent robots; Mobile robots; Robot control; Shape; Simultaneous localization and mapping; Wireless communication; SLAM; mobile robot; path planning; rescue robot; rough terrain robot; semi-autonomous robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913280

Filename

4913280