Research on Semi-automatic Bomb Fetching for an EOD Robot

Research on Semi-automatic Bomb Fetching for an EOD Robot

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An EOD robot system, SUPER-PLUS, which has a novel semi-automatic bomb fetching function is presented in this paper. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb....

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Bibliographic Details
Main Authors: Qian Jun, Weng Xin-Hua, Yang Ru-Qing, Zhang Wei-Jun, Zeng Jian-Jun
Format: Article
Language:English
Published: SAGE Publishing 2008-11-01
Series:International Journal of Advanced Robotic Systems
Subjects:
EOD robot
world modeling
obstacle avoidance
path planning
Online Access:http://www.intechopen.com/articles/show/title/research_on_semi-automatic_bomb_fetching_for_an_eod_robot
Description
Summary:An EOD robot system, SUPER-PLUS, which has a novel semi-automatic bomb fetching function is presented in this paper. With limited support of human, SUPER-PLUS scans the cluttered environment with a wrist-mounted laser distance sensor and plans the manipulator a collision free path to fetch the bomb. The model construction of manipulator, bomb and environment, C-space map, path planning and the operation procedure are introduced in detail. The semi-automatic bomb fetching function has greatly improved the operation performance of EOD robot.
ISSN:1729-8806
1729-8814

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