TY - GEN
T1 - Semi-autonomous control of a throwable miniature reconnaissance robot with environment perception
AU - Sang, Wenhua
AU - Huang, Qiang
AU - Huang, Yuancan
AU - Li, Yue
AU - Zhang, Liancun
AU - Hu, Haibo
PY - 2010
Y1 - 2010
N2 - Secret reconnaissance in spatially constrained spot is demanded in many antiterrorism activities. So we propose a Throwable Miniature Reconnaissance Robot BMS-2(BIT MicroScout-2). BMS-2 has the character of small size and light weigh and the ability of attenuating the landing impact regardless of orientation, which is easy to deploy, such as thrown deployment, and can be satisfied with the demand. When performing reconnaissance missions in an unknown environment, BMS-2 should have the ability of perceiving the environment. Difficulty is that an appropriate control mode should be proposed to combine the efficiency and the adaptability together for BMS-2's accomplishing secret reconnaissance tasks. This paper proposes and designs a semi-autonomous control based on multiple sensors used for environment perception, including the remote control mode and autonomous mode. In applications, the teleoperator acquires the information about the unknown environment by the received image, teleoperates the robot to reach the desired area through the remote control system for secretly observing dynamics, directly and efficiently. And the robot's autonomous capacity will be an extension of the robots' adaptability in scene application, which can reduce the communication burden; several different sensors used for autonomy sensor the information which can't be acquired by image and help a robot make decision by itself; When a robot is in autonomous mode, it can seek dark corners automatically, stay in it for secret reconnaissance, and feed back the image information. However, autonomous robots often become trapped in the local and wander aimlessly without teleoperation. When beyond remote control radius, BMS-2 will be back regardless of control mode. The remote control system and the autonomous control system and control strategies are introduced in detail. Experiments prove that the semi-autonomous control can be fit for BMS-2's application.
AB - Secret reconnaissance in spatially constrained spot is demanded in many antiterrorism activities. So we propose a Throwable Miniature Reconnaissance Robot BMS-2(BIT MicroScout-2). BMS-2 has the character of small size and light weigh and the ability of attenuating the landing impact regardless of orientation, which is easy to deploy, such as thrown deployment, and can be satisfied with the demand. When performing reconnaissance missions in an unknown environment, BMS-2 should have the ability of perceiving the environment. Difficulty is that an appropriate control mode should be proposed to combine the efficiency and the adaptability together for BMS-2's accomplishing secret reconnaissance tasks. This paper proposes and designs a semi-autonomous control based on multiple sensors used for environment perception, including the remote control mode and autonomous mode. In applications, the teleoperator acquires the information about the unknown environment by the received image, teleoperates the robot to reach the desired area through the remote control system for secretly observing dynamics, directly and efficiently. And the robot's autonomous capacity will be an extension of the robots' adaptability in scene application, which can reduce the communication burden; several different sensors used for autonomy sensor the information which can't be acquired by image and help a robot make decision by itself; When a robot is in autonomous mode, it can seek dark corners automatically, stay in it for secret reconnaissance, and feed back the image information. However, autonomous robots often become trapped in the local and wander aimlessly without teleoperation. When beyond remote control radius, BMS-2 will be back regardless of control mode. The remote control system and the autonomous control system and control strategies are introduced in detail. Experiments prove that the semi-autonomous control can be fit for BMS-2's application.
UR - http://www.scopus.com/inward/record.url?scp=77957880791&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524166
DO - 10.1109/ICCA.2010.5524166
M3 - Conference contribution
AN - SCOPUS:77957880791
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 926
EP - 931
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -