Research on Semi-Automatic Bomb Fetching for an EOD Robot

International Journal of Advanced Robotic Systems

关键词: EOD robot;    world modeling;    obstacle avoidance;    path planning;   

DOI  :  10.5772/5689

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY