Multi-sensor localization and navigation for remote manipulation in smoky areas
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Otros documentos de la autoría: Martí Avilés, José Vicente; Sales Gil, Jorge; Marin, Raul; Sanz, Pedro J
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Título
Multi-sensor localization and navigation for remote manipulation in smoky areasFecha de publicación
2013Editor
SAGE Publications; InTechISSN
1729-8806; 1729-8814Cita bibliográfica
Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas. Jose Vicente Marti, Jorge Sales, Raul Marin, Pedro Sanz. International Journal of Advanced Robotic Systems. Vol 10, Issue 4. January-01-2013 10.5772/55808Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://journals.sagepub.com/doi/full/10.5772/55808#articleCitationDownloadContainerPalabras clave / Materias
Resumen
When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building ... [+]
When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used, such as sonar, radar or radiofrequency signals. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS [1] project goals.
The developed method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to allow a human operator to manipulate the robot's arm in order to actuate over the element. In coarse-grain localization, a fingerprinting technique based on ZigBee and WiFi signals is used, allowing the robot to navigate inside the building in order to get near the point of interest that requires manipulation. In fine-grained localization a remotely controlled programmable high intensity LED panel is used, which acts as a reference to the system in smoky conditions. Then, smoke detection and visual fine-grained localization are used to position the robot with precisely in the manipulation point (e.g., doors, valves, etc.). [-]
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Int J Adv Robotic Sy, 2013, Vol. 10, 211:2013Derechos de acceso
info:eu-repo/semantics/openAccess
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