Analysis of Articulated Mobile Robots for the Urban Search and Rescue

2013 ◽  
Vol 303-306 ◽  
pp. 1641-1646 ◽  
Author(s):  
Hong Wei Xiang ◽  
Chang Zheng Chen ◽  
Chang Long Ye
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Performance ◽  
Search And Rescue ◽  
Complex Environment ◽  
Urban Search And Rescue ◽  
Environment Adaptation ◽  
Articulated Robots ◽  
High Flexibility ◽  
Better Than

Articulated structure of mobile robot presents high flexibility on the environment adaptation. It has been widely used on the mobile robot to get through rough terrain. This class of robots named as articulated mobile robots can move in hard condition with high stability and environment adaptability. In order to satisfy the requirement of Urban Search and Rescue (USAR), a series of articulated mobile robots are analyzed. The performance of articulated mobile robots is analyzed for get an appropriate robot for USAR. Two snake-like robots named Perambulator I and II are analyzed. Based on the structure of Perambulator II, the articulated mobile robot Ameba II are presented based on track drive mechanism. Ameba II has high performance on mobility and adaptability in complex environment. The comparisons among of some typical articulated robots are given based on mobility and environment adaptation. The experimental results of both Perambulator II and Ameba II show that the Ameba II mobile robot is a better than the snake-like robot Perambulator II on the urban search and rescue applications.

scholarly journals A Novel Modular Mobile Robot Prototype for Urban Search and Rescue

10.5772/6055 ◽  
2008 ◽  
Author(s):  
Houxiang Zhang ◽  
Wei Wang ◽  
Guanghua Zong ◽  
Jianwei Zhang
Keyword(s):  
Mobile Robot ◽  
Search And Rescue ◽  
Urban Search And Rescue

Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph

2008 ◽  
Vol 20 (1) ◽  
pp. 24-37 ◽  
Author(s):  
Chomchana Trevai ◽  
◽  
Norisuke Fujii ◽  
Jun Ota ◽  
Tamio Arai
Keyword(s):  
Diffusion Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Reaction Diffusion ◽  
Environmental Information ◽  
Search And Rescue ◽  
Drastic Change ◽  
Reaction Diffusion Equation ◽  
Map Building ◽  
Multiple Mobile Robots

In this paper, we propose a search and surveillance with mobile robots to collect information while minimizing repeated coverage to maximize efficiency. The problem of search and surveillance is defined as one having a mobile robot or covering a working area with sensor footprints. The problem is applicable to tasks such as floor cleaning, map building, surveillance, security patrols, and search and rescue operations. We use a reaction-diffusion equation on a graph (RDEG), we make and remake plans online base on incoming environmental information. The strategy is applicable to patrolling tasks after an environment has been completely explorated. Tasks are allocated to multiple mobile robots, among which a temporary leader, i.e., the robot detecting a drastic change in the environment, plans a strategy for other mobile robots on the team. Sensing and positioning data for each robot is broadcast and shared among robots. Simulation in different scenarios using one to three robots demonstrated the feasibility of increasing the number of robots on a team.

Environmental Modeling Based on Ultrasonic Ranging

2013 ◽  
Vol 341-342 ◽  
pp. 1210-1215
Author(s):  
Jun Hui Wu ◽  
Tong Di Qin ◽  
Hui Ping Si ◽  
Jie Chen ◽  
Kai Yan Lin ◽  
...  
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Mobile Robot ◽  
High Performance ◽  
Measurement Data ◽  
Environmental Modeling ◽  
Complex Environment ◽  
Ultrasonic Ranging ◽  
Characteristics Analysis ◽  
Grid Based

In order to deal with the conflict of the robot high-performance implementing the task in an uncertain environment, environmental modeling method based on ultrasonic ranging was adopted. By the complex environmental modeling mean of combining the methods of grid and geometry, relying the measurement data of the adjacent multi-ultrasonic and the correlation among the data, the environmental modeling was established effectively. The modeling characteristics analysis showed that: the robot can easily make obstacle avoidance, path planning and decision-making in the grid-based modeling. The accuracy of the modeling is high, and it can detect and update the complex regional expediently. The environmental modeling based on ultrasonic ranging can effectively solve the problem of mobile robot implementing the tasks efficiently in the actual complex environment.

Gathering and Applying Guidelines for Mobile Robot Design for Urban Search and Rescue Application

2017 ◽  
pp. 562-581 ◽  
Author(s):  
Ekaterina R. Stepanova ◽  
Markus von der Heyde ◽  
Alexandra Kitson ◽  
Thecla Schiphorst ◽  
Bernhard E. Riecke
Keyword(s):  
Mobile Robot ◽  
Search And Rescue ◽  
Robot Design ◽  
Urban Search And Rescue

scholarly journals Development of a Transformable Mobile Robot with a Variable Wheel Diameter

2007 ◽  
Vol 19 (3) ◽  
pp. 252-257 ◽  
Author(s):  
Keiji Nagatani ◽  
◽  
Mitsuhiro Kuze ◽  
Kazuya Yoshida ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Natural Disaster ◽  
Geometric Analysis ◽  
Search And Rescue ◽  
Compact Form ◽  
Robotic Technology ◽  
Trade Off ◽  
Step Climbing ◽  
Expanded Form

A demand of search and rescue operations using robotic technology increases to mitigate a natural disaster. In searching tasks with mobile robots, particularly in debris-covered environment, there is a trade-off between high-traversability on bumpy surfaces (likely to large robots) and exploration in limited areas (likely to small robots). With this in mind, we developed a small transformable mobile robot that uses a variable wheel diameter and stabilizer length. In its most compact form, the robot is deployable in limited areas and, in its fully expanded form, it traverses relatively large obstacles by expanding its wheel diameter. In this paper, development is detailed in the former sections, and geometric analysis and experiment of its step-climbing capabilities is introduced in the latter sections.

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