Erkundung unzugänglicher Bereiche mit mobilen Robotern Exploration of Inaccessible Areas Using Mobile Robots
msra
摘要
Exploration robotics allow robots to find their way into areas and spaces that are out of human reach in order to capture data that the sensory organs of human beings are not necessarily able to perceive directly. This helps mankind to get an access to these worlds and enables it to make better decisions on actions. The equipment of a mobile robot with 3D-Sensors proved as particularly useful for many of these tasks. Efficient algorithms are needed, to assemble the 3D point clouds generated by these sensors in a complete 3D model of the explored environment. Further, the robot must accomplish its task partial (semi-) autonomously, because (radio-) remote control will not always work reliably or not at all. Appropriate procedures were developed and implemented on the mobile robot KURT3D, which was developed by Fraunhofer AIS. They were tested successfully in different applications, including sewer inspection and rescue after disasters. The applicability of the presented approach in the mining industry is demonstrated with data from the abandoned Mathies mine in Pittsburgh (USA), which were provided to us by a research team of the CMU.
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