American Institute of Mathematical Sciences

Advanced
December  2015, 8(6): 1415-1421. doi: 10.3934/dcdss.2015.8.1415

Research on the method of step feature extraction for EOD robot based on 2D laser radar

Qiang Yin 1, , Gongfa Li 2, and  Jianguo Zhu 3,

1. 

College of Mechanical Engineering, Wuhan Polytechnic University, Wuhan 430023, China
2. 

College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan 430081
3. 

School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081, China

Received  July 2015 Revised  September 2015 Published  December 2015

Considering the requirements of climbing obstacle and stairs for Explosive Ordnance Disposal (EOD) robot, a method about step feature extraction based on two-dimensional (2D) laser radar is in great demand. In this paper, we research the three-dimensional (3D) environment feature extraction (EFE) method including the 3D point clouds map construction, the line feature extraction and the plane feature extraction. The EFE method can be applied to feature extraction of the step vertical plane. Based on the method, we construct a 3D feature recognition system (FRS) using 2D laser radar. FRS can help us extract quickly the step vertical planes from 3D laser radar line map, thus can provide necessary environment information for the decision and action of EOD robot. We demonstrate the ability of FRS by applying it to some typical step environment.
Keywords: 3D feature recognition system, 2D laser radar, Step feature extraction, explosive ordnance disposal robot..
Mathematics Subject Classification: Primary: 65D18, 65D19; Secondary: 68T4.
Citation: Qiang Yin, Gongfa Li, Jianguo Zhu. Research on the method of step feature extraction for EOD robot based on 2D laser radar. Discrete and Continuous Dynamical Systems - S, 2015, 8 (6) : 1415-1421. doi: 10.3934/dcdss.2015.8.1415
References:
[1]

X. G. Duan, Q. Huang and J. T. Li, Design and implementation of a small ground mobile robot with multi-locomotion modes, China Mechanical Engineering, 18 (2007), 8-12.

[2]

L. Q. Fan, X. F. Yao and H. N. Qi, An automatic control system for EOD robot based on binocular vision position, Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, 2007, 914-919. doi: 10.1109/ROBIO.2007.4522285.

[3]

Q. Giuseppe, B. Luca and B. Giorgio, Epi.q-TG: Mobile robot for surveillance, Industrial Robot: An International Journal, 38 (2011), 282-291. doi: 10.1108/01439911111122789.

[4]

S. Jiang, Service robot, Robot Technique and Application, 3 (2004), 10-14.

[5]

R. Labayrade, C. Royere and D. Gruyer, et al., Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner, Autonomous Robots, 19 (2005), 117-140. doi: 10.1007/s10514-005-0611-7.

[6]

Y. W. Li, S. R. Ge and H. Zhu, et al., Obstacle-surmounting mechanism and capability of four-track robot with two swing arms, Robot, 32 (2010), 157-165. doi: 10.3724/SP.J.1218.2010.00157.

[7]

A. I. Mourikis, N. Trawny and I. R. Stergios, et al., Autonomous stair climbing for tracked vehicles, International Journal of Robotics Research, 26 (2007), 737-758.

[8]

S. Steplight, G. Egnal and S. Jung, A mode-based sensorfusion approach to robotics stair-climbing, in Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, 2000, 1113-1118. doi: 10.1109/IROS.2000.893168.

[9]

S. Thrun, A personal account of the development of stanley the robot that won the DARPA grand challenge, AI Magazine, 27 (2006), 69-82. doi: 10.1609/aimag.v27i4.1910.

[10]

J. F. Vasconcelos, C. Silvestre and P. Oliveira, et al., Embedded UAV model and LASER aiding techniques for inertial navigation systems, Control Engineering Practice, 18 (2010), 262-278. doi: 10.1016/j.conengprac.2009.11.004.

[11]

S. Wender and K. Dietmayer, 3D vehicle detection using a laser scanner and a video camera, IET, 2 (2008), 105-112. doi: 10.1049/iet-its:20070031.

[12]

Y. Wang, Z. Ma and Y. Hu, et al., Novel free-form surface 3D laser scanning system, Journal of Mechanical Engineering, 45 (2009), 260-265.

[13]

Y. Xiong and L. Matthies, Vision-guided autonomous stair climbing, in IEEE Int. Conf. Robotics and Automation, Vol. 2, 2000, 1842-1847. doi: 10.1109/ROBOT.2000.844863.

[14]

P. Yang, J. Chen and C. M. Li, et al., Design of gravity center regulation system of stair climbling intelligent service robot, Journal of Mechanical Transmission, 38 (2014), 102-104.

[15]

H. L. Zhuang, Control System of Specialized Moble Robot and Obstacle Performance Study, Ph.D thesis, Shanghai Jiao Tong University in Shanghai, 2013.

[16]

G. J. Zhang, Machine Vision, $1^{nd}$ edition, Science Press, Beijing, 1994.

show all references

References:
[1]

X. G. Duan, Q. Huang and J. T. Li, Design and implementation of a small ground mobile robot with multi-locomotion modes, China Mechanical Engineering, 18 (2007), 8-12.

[2]

L. Q. Fan, X. F. Yao and H. N. Qi, An automatic control system for EOD robot based on binocular vision position, Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, 2007, 914-919. doi: 10.1109/ROBIO.2007.4522285.

[3]

Q. Giuseppe, B. Luca and B. Giorgio, Epi.q-TG: Mobile robot for surveillance, Industrial Robot: An International Journal, 38 (2011), 282-291. doi: 10.1108/01439911111122789.

[4]

S. Jiang, Service robot, Robot Technique and Application, 3 (2004), 10-14.

[5]

R. Labayrade, C. Royere and D. Gruyer, et al., Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner, Autonomous Robots, 19 (2005), 117-140. doi: 10.1007/s10514-005-0611-7.

[6]

Y. W. Li, S. R. Ge and H. Zhu, et al., Obstacle-surmounting mechanism and capability of four-track robot with two swing arms, Robot, 32 (2010), 157-165. doi: 10.3724/SP.J.1218.2010.00157.

[7]

A. I. Mourikis, N. Trawny and I. R. Stergios, et al., Autonomous stair climbing for tracked vehicles, International Journal of Robotics Research, 26 (2007), 737-758.

[8]

S. Steplight, G. Egnal and S. Jung, A mode-based sensorfusion approach to robotics stair-climbing, in Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, 2000, 1113-1118. doi: 10.1109/IROS.2000.893168.

[9]

S. Thrun, A personal account of the development of stanley the robot that won the DARPA grand challenge, AI Magazine, 27 (2006), 69-82. doi: 10.1609/aimag.v27i4.1910.

[10]

J. F. Vasconcelos, C. Silvestre and P. Oliveira, et al., Embedded UAV model and LASER aiding techniques for inertial navigation systems, Control Engineering Practice, 18 (2010), 262-278. doi: 10.1016/j.conengprac.2009.11.004.

[11]

S. Wender and K. Dietmayer, 3D vehicle detection using a laser scanner and a video camera, IET, 2 (2008), 105-112. doi: 10.1049/iet-its:20070031.

[12]

Y. Wang, Z. Ma and Y. Hu, et al., Novel free-form surface 3D laser scanning system, Journal of Mechanical Engineering, 45 (2009), 260-265.

[13]

Y. Xiong and L. Matthies, Vision-guided autonomous stair climbing, in IEEE Int. Conf. Robotics and Automation, Vol. 2, 2000, 1842-1847. doi: 10.1109/ROBOT.2000.844863.

[14]

P. Yang, J. Chen and C. M. Li, et al., Design of gravity center regulation system of stair climbling intelligent service robot, Journal of Mechanical Transmission, 38 (2014), 102-104.

[15]

H. L. Zhuang, Control System of Specialized Moble Robot and Obstacle Performance Study, Ph.D thesis, Shanghai Jiao Tong University in Shanghai, 2013.

[16]

G. J. Zhang, Machine Vision, $1^{nd}$ edition, Science Press, Beijing, 1994.

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