Title :
New Methods in using a Manipulator for Autonomous Victim Detection
Author :
Khameneh, Elyas ; Khasteh, Seyed Hossein ; Amiri, Seyed Mohsen
Author_Institution :
Dept. of Comput. Eng., Sharif Univ. of Technol., Tehran
Abstract :
In the present paper, we aim at examining the various aspects of using a robot as a rescuer to identify and localize the victims. Our robot serves as a mobile platform for carrying a 3-DOF1 manipulator mounted on it. The presented robot has the ability to completely detect and localize the victim in environments referred to as yellow and orange arena in NIST terminology (A. Jacoff et al., 2001). In this paper, these types of environments which are more structured are classified as 2D environments such as an office environment. In unstructured environments, which are classified as 3D environments, the victims can be found in a semi-autonomous manner. These environments are called the red arena in NIST terminology
Keywords :
manipulators; mobile robots; object detection; robot vision; service robots; 3-DOF1 manipulator; NIST; autonomous victim detection; mobile platform; victim identification; victim localization; Detectors; Humans; Manipulators; Microphones; Mobile robots; Navigation; Open loop systems; Robot sensing systems; Temperature sensors; Thermal sensors; Remote Sensing; Rescue Robot; Robotic Manipulator; Victim Detection;
Conference_Titel :
Information and Communication Technologies, 2006. ICTTA '06. 2nd
Conference_Location :
Damascus
Print_ISBN :
0-7803-9521-2
DOI :
10.1109/ICTTA.2006.1684668