Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas

Abstract

When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used, such as sonar, radar or radiofrequency signals. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS [1] project goals.The developed method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to allow a human operator to manipulate the robot's arm in order to actuate over the element. In coarse-grain localization, a fingerprinting technique based on ZigBee and WiFi signals is used, allowing the robot to navigate inside the building in order to get near the point of interest that requires manipulation. In fine-grained localization a remotely controlled programmable high intensity LED panel is used, which acts as a reference to the system in smoky conditions. Then, smoke detection and visual finegrained localization are used to position the robot with precisely in the manipulation point (e.g., doors, valves, etc.).

CompaRob: The Shopping Cart Assistance Robot

“…As future work, we are planning to integrate the recently proposed indoor radio-based localization system [38] into the shopping cart. This system is based on fingerprinting techniques and can be applied to robot and person localization in order to know their position in a particular environment [39], just using simply the WiFi/ZigBee transceiver information, and providing a 1.5 m localization error. This could improve the robot navigation inside a shopping center, and the robot could also show the person where to go in order to find a particular product.…”

Fusing sonars and LRF data to perform SLAM in reduced visibility scenarios

“…However, some dust points (false negatives) remained. Marti et al [11] addressed mobile robot navigation in smoky areas by using visual artificial landmarks.…”

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

“…LED patterns have been previously used by the authors in the context of localization of mobile robots in low-visibility conditions [33,34]. The use of high intensity LEDs improve the detection of the markers using optical sensors like cameras, where visibility is not optimal, like in smoke-filled environments or underwater in presence of water turbidity.…”