Control methods for autonomous mobile robots: unmanned missions in hazardous, inaccessible environments

自主移动机器人的控制方法：危险、难以进入的环境中的无人任务

• 批准号: 386684-2011
• 负责人: Spinello, Davide
• 金额: $ 1.82万
• 依托单位: University of Ottawa
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=573010
• 关键词: Control; methods; autonomous; mobile; robots

A longstanding goal of robotics has been to introduce intelligent machines into environments dangerous or generally inaccessible to humans. Autonomous robots equipped with computing, wireless communication, mobility and embedded sensors are becoming economically feasible and therefore available to perform a variety of tasks such including environmental sensing and monitoring; coverage control; surveillance, search and rescue, and exploration; target localization and tracking. This research program is concerned with control methods for Autonomous Robotic Systems suitable for unmanned missions in hazardous environments and/or inaccessible to humans. Given the intrinsic operational limitations in many applications involving autonomous robots, there is a need for distributed coordination algorithms that are both theoretically justified and implementable in real systems. The attribute "autonomous" refers to the capability of making decision without (or with minimum) human intervention, which makes the associated system suitable for operations that minimize harm to humans, or that cannot possibly be done by operators. Within a general robotic framework proposed by the applicant we will (i) develop method for coordination of cooperating groups of robots operating autonomously in hazardous missions such as demining and search and rescue in hostile environments; (ii) develop algorithms for the next generation of the robot Explorer II, a robotic platform maintained by a Canadian company that performs non-destructive inspection and damage detection of gas pipelines; (iii) develop and implement motion control for mobile lenses mounted on a microscope that will be used in biomechanical experiments; (iv) develop tracking and data association tools for infrared camera detecting the body temperature of humans transiting in critical/hazardous areas. Several graduate students will be involved in the program, with the possibility of being engaged in research projects that span analytical, computational, and experimental topics.

机器人技术的一个长期目标是将智能机器引入危险的环境或对人类通常无法访问的环境。配备计算，无线通信，移动性和嵌入式传感器的自主机器人在经济上变得可行，因此可以执行各种任务，包括环境感应和监测；覆盖范围控制；监视，搜救和勘探；目标定位和跟踪。 该研究计划涉及适用于危险环境中无人执行任务和/或人类无法访问的自动机器人系统的控制方法。鉴于许多涉及自主机器人的应用程序的内在操作限制，因此需要在理论上是合理的和可以在实际系统中实现的分布式协调算法。属性“自主”是指无需（或最少）人类干预做出决定的能力，这使得相关的系统适合最大程度地减少对人类损害的操作，或者操作员无法做到。 在申请人提出的一般机器人框架内，我们将（i）开发方法来协调合作的机器人组，以自主在危险的任务中自主操作，例如在敌对环境中进行降低，搜索和救援； （ii）开发了下一代机器人Explorer II的算法，这是由加拿大公司维护的机器人平台，该平台可进行非破坏性检查和对燃气管道的损害检测； （iii）开发并实施安装在生物力学实验中的显微镜上的移动镜头的运动控制； （iv）开发针对红外摄像机的跟踪和数据关联工具，以检测到关键/危险区域中过渡的人体温度。 几位研究生将参与该计划，并有可能参与分析，计算和实验主题的研究项目。