RoboCupRescue 2013 Ǧ Robot League Team MRL Rescue Robot (Iran)

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Abstract ȋȌǦ Ǥ ǡǦǤ Ǥ ǡǦ ǡǡ ǡ Ǥ

Introduction

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1. Team Members and Their Contributions

¹ Home made Linux distribution

² Naji Rescue Robot Server

Team Members and Their Contributions

2. Operator Station Setup and Breakdown (10 minutes)

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2. Software Overview

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2.1 Real Time Hardware Abstracted Layer (RTǦHAL)

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3. Hardware Overview

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4. Autonomous Robot System Overview

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5. Semi Ǧ Autonomous Robot System Overview

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6. Flying Robot Overview

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7. Robot Navigation

ȋȌǤ Ǧ Ǥ Ǥ ǡ Ǥ Ǥ ǡǦ Ǥǣ

$$d_x = R_{apx} + D * cos(\theta_{ang})$$

$$d_y = R_{apy} + D * sin(\theta_{ang})$$

(1)

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8. Localization and Mapping

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ȏͳǦ͵Ȑǡ ǡ ǡ Ǥ

ϐǢ ȋȌȏͶȐϐ Ǥ DzdzǤ ǡȋȌȏͳȐ Ǥ

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9. Map merging algorithm

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10.Victim Identification

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11.Robot Locomotion

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12.Team Training for Operation (Human Factors)

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13.Possibility for Practical Application to Real Disaster Site

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14.System Cost

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15.Lessons Learned

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References

[1] ǤǤǤʹǤ Ǥ ǡͻ͵ͷȂͻ͵ͺǡͳͻͻͶǤ [2] ǤǤǤǤǤȀ ǡǡʹͲͲͷǤ [3] ǤǡǤǤǤǤ ǡ ǡ ʹ Ǥǡ Ȁ ǦǡǡͳͻͻʹǤͻǦͳͳͷǡͳͻͶǦʹͳͶ [4] ǦǡǤǡǡ ǤǣǦǦ ǤǣǤǤǤƬȋʹͲͲȌ [5] ǤǡǤǡǡ ǤǡǡǤǣǦ Ǧ ǤǣǡǤ͵ͷͷǦ͵ͷ͵ǤǡȋʹͲͲͷȌ [6] ǤǡǤǤǡǡǤǤǡǡǤǡǡ Ǥǣ Ǥ ǣ ǡ ǤͳȂͳͶǡȋʹͲͲʹȌ [7] ǤǤǡǤǡǤǡǤ Ǥ*"Recursive Line Extraction Algorithm from 2D Laser Scanner Applied to Navigation a Mobile Robot"ǡ ǡǡ ʹͲͲͺ [8] ǤǤǡǤ ǡ ǤǡǤǤ"Adaptive Line Extraction Algorithm for SLAM Application"ǡǦ ǡǡʹͲͲͺ [9] ǤǤǡǤǡǤǤ" Object Based Navigation of Mobile Robot with Obstacle Avoidance using Fuzzy Controller "*ǡƬȋǯʹͲͲͻȌ [10] ǤǤǡǡǤǡ ǤǡDz ǣǡdz ǡǡʹͲǦʹ͵ ʹͲͲǡǤ [11] ǡǡDzǡ ϐ ǡdz ǡ ǡǡʹͲͲͺǤ [12] ǡǡǡDzǡǦ ǡdzǡǡͷǦͻʹͲͳͲǤ [13] ǡǡǡǡDzǦ ǡdzǡǡͷǦͻʹͲͳͳǤ