Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas
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Other documents of the author: Martí Avilés, José Vicente; Sales Gil, Jorge; Marin, Raul; Sanz, Pedro J
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comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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Title
Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky AreasDate
2013Publisher
InTechISSN
1729-8806; 1729-8814Bibliographic citation
Jose Vicente Marti, Jorge Sales, Raul Marin and Pedro Sanz. Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas. Int J Adv Robot Syst, 2013, 10:211. doi: 10.5772/55808Type
info:eu-repo/semantics/articlePublisher version
http://www.intechopen.com/journals/international_journal_of_advanced_robotic_sys ...Subject
Abstract
Abstract 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 ... [+]
Abstract 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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International Journal of Advanced Robotic Systems, 2013, vol. 10, no 211Rights
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