This paper describes the mechatronics and the software architecture of two semi-autonomous ground vehicles for urban search and rescue scenarios. The robots are part of the ICARUS project, which deals with the development of tools and unmanned vehicles to improve rescue mission for future disasters. The smaller robot is designed for indoor operations. His tasks are the exploration and assessment of partly collapsed or damaged buildings. For outdoor scenarios, the bigger robot should be employed. This machine is equipped with heavy tools and will assist search and rescue teams. The challenges of disaster sites and operators, which are not specialized on robot control, request a robust and easy to use control. As basis for any partly autonomous behavior of the vehicles, they are equipped with a bunch of sensors. The sensors are chosen based on the operating environment and the intended tasks. For localization there will be inertial measurement units, wheel encoders and for outdoor use, there will be a global navigation satellite system receiver. The pose estimation will then be gathered by a fusion of all available localization information. The information for obstacle and traversability detection will mainly be based on laser scanner and vision sensors. Extracted traversability estimations from the sensor data are then stored in local grid maps. These maps serve as a memory for already detected obstacles and additionally abstract from the specific sensor data to a common format. Based on these maps the navigation system, which is implemented as an iB2C behavior-based network, controls the robot. On the lowest level, the obstacle avoidance assures a collision free motion. The idea is to have a set of different slow-down, evasion and emergency stop behaviors, working independent and in parallel of each other. Every behavior is responsible for a specific task, e. g. to stop the robot before colliding with a front obstacle. In this paper the design aspects of the control system based on behaviors is discussed in detail.


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    Titel :

    Unmanned Ground Vehicles for Urban Search and Rescue in the EU-FP7 Project ICARUS Mechatronics and Control Architecture


    Beteiligte:
    Pfister, Thomas (Autor:in) / Berns, Karsten (Autor:in)


    Erscheinungsdatum :

    2014


    Format / Umfang :

    10 Seiten, Bilder, 11 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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