KFU. Card publication. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle

KAZAN
FEDERAL UNIVERSITY

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CONTROLLED BALANCE LOSING IN RANDOM STEP ENVIRONMENT FOR PATH PLANNING OF A TELEOPERATED CRAWLER TYPE VEHICLE

Form of presentation

Articles in international 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. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle / Tsubouchi T., Koyanagi E., Yoshida T., Tadokoro S. // Journal of Field Robotics. - 2011. - Vol. 28(6). - p. 932-949.

Annotation

Journal of Field Robotics

Keywords

Robotics, path planning

The name of the journal

Journal of Field Robotics

URL

https://dl.acm.org/doi/10.1002/rob.20406

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

https://repository.kpfu.ru/eng/?p_id=257650&p_lang=2

Resource files

File name	Size (MB)	Format
2011_Controlled_Balance_Losing_in_Random_Step_Environment_for_Path_Planning_of_a_Teleoperated_Crawler_Type.pdf	1,94	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. Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle / Tsubouchi T., Koyanagi E., Yoshida T., Tadokoro S. // Journal of Field Robotics. - 2011. - Vol. 28(6). - p. 932-949.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257650&p_lang=2	ru_RU
dc.description.abstract	Journal of Field Robotics	ru_RU
dc.description.abstract	Rescue robotics is the application of robotics to the search and rescue domain, aimed at extending the capabilities and increasing the safety of the rescuers. Deployed on a site during a rescue mission, a mobile robot is teleoperated by a human operator from a safe place. To suggest to the operator a good direction to traverse the three-dimensional (3D) debris environment, we develop a pilot system, which requires a special path search algorithm on debris and a proper definition of a search tree. Although the main goal of the algorithm is to keep the robot maximally stable at every step of its path, in some cases we need the robot to change a 3D orientation discontinuously through losing its balance. Losing balance on purpose is an essential feature for safe climbing up and going down debris, and it is the central issue of this paper. Exhaustive simulations were used to structure and analyze data. Experiments with a real robot verified our approach to removing unsuitable search directions from the search tree and gave important feedback to the algorithm.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Robotics	ru_RU
dc.subject	path planning	ru_RU
dc.title	Controlled Balance Losing in Random Step Environment for Path Planning of a Teleoperated Crawler Type Vehicle	ru_RU
dc.type	Articles in international journals and collections	ru_RU