KFU. Card publication. Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment

KAZAN
FEDERAL UNIVERSITY

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BUILDING A SEARCH TREE FOR A PILOT SYSTEM OF A RESCUE SEARCH ROBOT IN A DISCRETIZED RANDOM STEP ENVIRONMENT

Form of presentation

Articles in Russian journals and collections

Year of publication

2011

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Magid E. Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment / Tsubouchi T., Koyanagi E., Yoshida T. // Journal of Robotics and Mechatronics. - 2011. - Vol. 23(4). - p. 567-581.

Annotation

Journal of Robotics and Mechatronics

Keywords

Rescue robot, USAR, random step environment

The name of the journal

Journal of Robotics and Mechatronics

URL

https://www.fujipress.jp/jrm/rb/robot002300040567/

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257649&p_lang=2

Resource files

File name	Size (MB)	Format
F_2011_Building_a_Search_Tree_for_a_Pilot_System_of_a_Rescue_Search.pdf	10,23	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2011-01-01T00:00:00Z	ru_RU
dc.date.available	2011-01-01T00:00:00Z	ru_RU
dc.date.issued	2011	ru_RU
dc.identifier.citation	Magid E. Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment / Tsubouchi T., Koyanagi E., Yoshida T. // Journal of Robotics and Mechatronics. - 2011. - Vol. 23(4). - p. 567-581.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257649&p_lang=2	ru_RU
dc.description.abstract	Journal of Robotics and Mechatronics	ru_RU
dc.description.abstract	Rescue robotics is the application of robotics to the search and rescue domain, destined to extend the capabilities of human rescuers while increasing their safety. During a rescue mission a mobile robot is deployed on a site, while a human operator is monitoring the robot's activities and giving orders from a safe place. Since the operator cannot see the robot and an environment a path selection is a very hard and tricky task. Our goal is to provide a kind of ”pilot system” to propose the operator a good direction or several options to traverse the 3D debris environment. 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. To make a path search feasible in a huge real state space we discretize the search space and the robot's motion before the search. In this paper we present a quality estimation of the path and search tree branching function F, which defines a reasonable search tree building process online through a node opening and branching procedure. A well-defined function F removes all unsuitable directions of the search from the search tree and enables a dynamic path planning on debris. Exhaustive simulations were used to structure and analyze data. Finally, our approach was verified through a large set of experiments.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Rescue robot	ru_RU
dc.subject	USAR	ru_RU
dc.subject	random step environment	ru_RU
dc.title	Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment	ru_RU
dc.type	Articles in Russian journals and collections	ru_RU