Planning high-visibility stable paths for reconfigurable robots on uneven terrain

Norouzi, M; Miro, JV; Dissanayake, G

Planning high-visibility stable paths for reconfigurable robots on uneven terrain

Norouzi, M Miro, JV

Dissanayake, G

Permalink

Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2012, pp. 2844 - 2849
Issue Date:: 2012-12-01

Closed Access

	Filename	Description	Size
	2012001158OK.pdf		3.49 MB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Norouzi, M	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2012, pp. 2844 - 2849	en_US
dc.identifier.isbn	9781467317375	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23119
dc.description.abstract	This paper proposes a motion planning strategy for reconfigurable mobile robots in uneven terrain. Paths that guarantee stability while at the same time maximise the height of the sensor payload, thereby enhancing the capacity of the robot to explore the environment are obtained using a search algorithm based on A*. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although the proposed technique can be generalised to incorporate other potentially conflicting objectives such as minimising energy. The proposed planning strategy looks at exploiting the (possibly incomplete) environment information available to the robot and/or operator as it explores novel terrain. The effectiveness of the approach is evaluated using data obtained from a multi-tracked robot fitted with a manipulator arm and a range camera in a mock-up search and rescue arena. © 2012 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2012.6385821	en_US
dc.title	Planning high-visibility stable paths for reconfigurable robots on uneven terrain	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Algarve, Portugal	en_US
dc.location.activity	Algarve, PORTUGAL
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper proposes a motion planning strategy for reconfigurable mobile robots in uneven terrain. Paths that guarantee stability while at the same time maximise the height of the sensor payload, thereby enhancing the capacity of the robot to explore the environment are obtained using a search algorithm based on A*. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although the proposed technique can be generalised to incorporate other potentially conflicting objectives such as minimising energy. The proposed planning strategy looks at exploiting the (possibly incomplete) environment information available to the robot and/or operator as it explores novel terrain. The effectiveness of the approach is evaluated using data obtained from a multi-tracked robot fitted with a manipulator arm and a range camera in a mock-up search and rescue arena. © 2012 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/23119