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
InTechISSN
1729-8806; 1729-8814Cita bibliográfica
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: 10.5772/55808Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.intechopen.com/journals/international_journal_of_advanced_robotic_sys ...Palabras clave / Materias
Resumen
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.). [-]
Publicado en
International Journal of Advanced Robotic Systems, 2013, vol. 10, no 211Derechos de acceso
© 2004–2014 InTech — Open Access Company
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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