tailieunhanh - Mobile Robots Navigation 2008 Part 17

Tham khảo tài liệu 'mobile robots navigation 2008 part 17', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 628 Mobile Robots Navigation 31 Communication and Artificial Intelligence systems used for the CAESAR robot Riaan Stopforth ZS5RSA and Glen Bright Mechatronics and Robotics Research Group MR2G University of KwaZulu-Natal South Africa R. Harley The school of Electrical and Computer Engineering Georgia Institute of Technology USA 1. Introduction Robots are necessary for search and rescue purposes to access concealed places and environments that fire fighters and rescue personnel cannot gain entry to. Three hundred and forty-three firefighters died at the World Trade Center during the September 11 attacks in 2001 Wiens 2006 . Often these rescuers unnecessarily entered an environment that had unstable structures as there were no live victims to rescue. Sixty-five of these rescuers died due to searching confined spaces that had flooded Kleiner 2006 . Rescue workers have about 48 hours to retrieve victims Gloster 2007 . Several hours are lost when rescuers are unsure of buildings stability. After a disaster the structures are often unstable and rescuers need to evacuate until the rubble has stabilized. Frequently the rescuers have to evacuate even though a body part of a possible survivor is seen due to unstable surroundings Roos 2005 . Robots can stay in the unstable area and continue searching for survivors. In the future robots could possibly also be used to access mines after an accident prior to rescuers workers Trivedi 2001 . Urban Search And Rescue USAR Robots were first extensively tested at the collapsing of the World Trade Center site in 2001 Greer et al. 2002 . The University of South Florida were involved in these rescue attempts. The robots that they used are shown in figure 1. The advantage of these robots above rescue members is that the disaster areas can be entered immediately after a disaster. Problems identified at the World Trade Center as well as at the testing grounds of the National Institution of Standards and Technology NIST are that the robot s