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 & 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.   Google Scholar

[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.  doi: 10.1109/ROBIO.2007.4522285.  Google Scholar

[3]

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

[4]

S. Jiang, Service robot,, Robot Technique and Application, 3 (2004), 10.   Google Scholar

[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.  doi: 10.1007/s10514-005-0611-7.  Google Scholar

[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.  doi: 10.3724/SP.J.1218.2010.00157.  Google Scholar

[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.   Google Scholar

[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, (2000), 1113.  doi: 10.1109/IROS.2000.893168.  Google Scholar

[9]

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

[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.  doi: 10.1016/j.conengprac.2009.11.004.  Google Scholar

[11]

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

[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.   Google Scholar

[13]

Y. Xiong and L. Matthies, Vision-guided autonomous stair climbing,, in IEEE Int. Conf. Robotics and Automation, (2000), 1842.  doi: 10.1109/ROBOT.2000.844863.  Google Scholar

[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.   Google Scholar

[15]

H. L. Zhuang, Control System of Specialized Moble Robot and Obstacle Performance Study,, Ph.D thesis, (2013).   Google Scholar

[16]

G. J. Zhang, Machine Vision,, $1^{nd}$ edition, (1994).   Google Scholar

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.   Google Scholar

[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.  doi: 10.1109/ROBIO.2007.4522285.  Google Scholar

[3]

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

[4]

S. Jiang, Service robot,, Robot Technique and Application, 3 (2004), 10.   Google Scholar

[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.  doi: 10.1007/s10514-005-0611-7.  Google Scholar

[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.  doi: 10.3724/SP.J.1218.2010.00157.  Google Scholar

[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.   Google Scholar

[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, (2000), 1113.  doi: 10.1109/IROS.2000.893168.  Google Scholar

[9]

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

[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.  doi: 10.1016/j.conengprac.2009.11.004.  Google Scholar

[11]

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

[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.   Google Scholar

[13]

Y. Xiong and L. Matthies, Vision-guided autonomous stair climbing,, in IEEE Int. Conf. Robotics and Automation, (2000), 1842.  doi: 10.1109/ROBOT.2000.844863.  Google Scholar

[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.   Google Scholar

[15]

H. L. Zhuang, Control System of Specialized Moble Robot and Obstacle Performance Study,, Ph.D thesis, (2013).   Google Scholar

[16]

G. J. Zhang, Machine Vision,, $1^{nd}$ edition, (1994).   Google Scholar

[1]

Yi An, Bo Li, Lei Wang, Chao Zhang, Xiaoli Zhou. Calibration of a 3D laser rangefinder and a camera based on optimization solution. Journal of Industrial & Management Optimization, 2019  doi: 10.3934/jimo.2019119
[2]

Thomas März, Andreas Weinmann. Model-based reconstruction for magnetic particle imaging in 2D and 3D. Inverse Problems & Imaging, 2016, 10 (4) : 1087-1110. doi: 10.3934/ipi.2016033
[3]

Juan Manuel Reyes, Alberto Ruiz. Reconstruction of the singularities of a potential from backscattering data in 2D and 3D. Inverse Problems & Imaging, 2012, 6 (2) : 321-355. doi: 10.3934/ipi.2012.6.321
[4]

A. Naga, Z. Zhang. The polynomial-preserving recovery for higher order finite element methods in 2D and 3D. Discrete & Continuous Dynamical Systems - B, 2005, 5 (3) : 769-798. doi: 10.3934/dcdsb.2005.5.769
[5]

Xiaoli Lu, Pengzhan Huang, Yinnian He. Fully discrete finite element approximation of the 2D/3D unsteady incompressible magnetohydrodynamic-Voigt regularization flows. Discrete & Continuous Dynamical Systems - B, 2020  doi: 10.3934/dcdsb.2020143
[6]

Giovanny Guerrero, José Antonio Langa, Antonio Suárez. Biodiversity and vulnerability in a 3D mutualistic system. Discrete & Continuous Dynamical Systems - A, 2014, 34 (10) : 4107-4126. doi: 10.3934/dcds.2014.34.4107
[7]

Zhi Guo Feng, K. F. Cedric Yiu, K.L. Mak. Feature extraction of the patterned textile with deformations via optimal control theory. Discrete & Continuous Dynamical Systems - B, 2011, 16 (4) : 1055-1069. doi: 10.3934/dcdsb.2011.16.1055
[8]

Gabriel Deugoue. Approximation of the trajectory attractor of the 3D MHD System. Communications on Pure & Applied Analysis, 2013, 12 (5) : 2119-2144. doi: 10.3934/cpaa.2013.12.2119
[9]

Junxiong Jia, Jigen Peng, Kexue Li. On the decay and stability of global solutions to the 3D inhomogeneous MHD system. Communications on Pure & Applied Analysis, 2017, 16 (3) : 745-780. doi: 10.3934/cpaa.2017036
[10]

Igor Kukavica. Interior gradient bounds for the 2D Navier-Stokes system. Discrete & Continuous Dynamical Systems - A, 2001, 7 (4) : 873-882. doi: 10.3934/dcds.2001.7.873
[11]

Chunhua Li. Decay of solutions for a system of nonlinear Schrödinger equations in 2D. Discrete & Continuous Dynamical Systems - A, 2012, 32 (12) : 4265-4285. doi: 10.3934/dcds.2012.32.4265
[12]

Yong Zhou. Remarks on regularities for the 3D MHD equations. Discrete & Continuous Dynamical Systems - A, 2005, 12 (5) : 881-886. doi: 10.3934/dcds.2005.12.881
[13]

Hyeong-Ohk Bae, Bum Ja Jin. Estimates of the wake for the 3D Oseen equations. Discrete & Continuous Dynamical Systems - B, 2008, 10 (1) : 1-18. doi: 10.3934/dcdsb.2008.10.1
[14]

Indranil SenGupta, Weisheng Jiang, Bo Sun, Maria Christina Mariani. Superradiance problem in a 3D annular domain. Conference Publications, 2011, 2011 (Special) : 1309-1318. doi: 10.3934/proc.2011.2011.1309
[15]

Gianluca Crippa, Elizaveta Semenova, Stefano Spirito. Strong continuity for the 2D Euler equations. Kinetic & Related Models, 2015, 8 (4) : 685-689. doi: 10.3934/krm.2015.8.685
[16]

Bernd Kawohl, Guido Sweers. On a formula for sets of constant width in 2d. Communications on Pure & Applied Analysis, 2019, 18 (4) : 2117-2131. doi: 10.3934/cpaa.2019095
[17]

Ka Kit Tung, Wendell Welch Orlando. On the differences between 2D and QG turbulence. Discrete & Continuous Dynamical Systems - B, 2003, 3 (2) : 145-162. doi: 10.3934/dcdsb.2003.3.145
[18]

Julien Cividini. Pattern formation in 2D traffic flows. Discrete & Continuous Dynamical Systems - S, 2014, 7 (3) : 395-409. doi: 10.3934/dcdss.2014.7.395
[19]

Géry de Saxcé, Claude Vallée. Structure of the space of 2D elasticity tensors. Discrete & Continuous Dynamical Systems - S, 2013, 6 (6) : 1525-1537. doi: 10.3934/dcdss.2013.6.1525
[20]

Igor Kukavica, Amjad Tuffaha. On the 2D free boundary Euler equation. Evolution Equations & Control Theory, 2012, 1 (2) : 297-314. doi: 10.3934/eect.2012.1.297

2019 Impact Factor: 1.233

Tools

Metrics

  • PDF downloads (79)
  • HTML views (0)
  • Cited by (10)

Other articles
by authors

[Back to Top]

Copyright © 2020 American Institute of Mathematical Sciences