Abstract
Remote surveillance of hazardous areas necessitates the deployment of mobile robots for carrying out planned work. These robots are equipped with sensors to enable monitoring and recording of the critical parameters of the remote hazardous areas. The sensed parameters need to be localized to gain better insights of site conditions and take corrective actions. By forming a system that offers combination of human intelligence with mobile robot’s reach and onboard machine intelligence, a teleoperated mobile robot provides a flexible and versatile solution for remote safe operation (Mukherjee et al. in National Symposium on Nuclear Instrumentation, Mumbai, Nov 2013) [1]. In addition, the robot’s ability to build the map of remote environment and self-localize with reference to map all by itself provides a basis for overlaying of sensed data onto the map for easier visualization and assessment by the user. This paper addresses the design and development of an indigenously developed mobile robot capable of carrying out surveillance and map building in remote environment.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J.K. Mukherjee, K.Y.V. Krishna, A.K. Pandey, indigenously developed mobile work agent, in National Symposium on Nuclear Instrumentation, Mumbai, Nov 2013
R. Siegwart et.al., Introduction to Autonomous Mobile Robots (MIT Press, 2011)
H. Durrant-Whyte, T. Bailey, Simultaneous localization and mapping: part I. IEEE Robot. Autom. Mag. 13(2), 99–110 (2006)
T. Bailey, H. Durrant-Whyte, Simultaneous localization and mapping (SLAM): Part II. IEEE Robot. Autom. Mag. 13(3), 108–117 (2006)
S. Thrun, J.J. Leonard, Simultaneous localization and mapping, Springer handbook of robotics (Springer, Berlin Heidelberg, 2008), pp. 871–889
M.W.M.Gamini Dissanayake et al., A solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans. Robot. Autom. 17(3), 229–241 (2001)
M. Montemerlo, et al., FastSLAM: a factored solution to the simultaneous localization and mapping problem (Aaai/iaai, 2002)
S. Kohlbrecher, J. Meyer, O. von Stryk, U. Klingauf, A flexible and scalable SLAM system with full 3D motion estimation, in Proceeding of IEEE International Symposium on Safety, Security and Resue Robotics, Kyoto, Japan, Nov 2011
M. Quigley et al., ROS: an open-source robot operating system, in ICRA workshop on open source software, Vol. 3, No. 3.2
T. Jilek, Radiation intensity mapping in outdoor environments using a mobile robot with RTK GNSS, in International Conference on Military Technologies (2015), Brno
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Krishna, K.Y.V., Wadnerkar, A., Patel, G.M., Baluni, G., Pandey, A.K., Suresh Babu, R.M. (2019). Indigenous Mobile Robot for Surveillance and Mapping. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_33
Download citation
DOI: https://doi.org/10.1007/978-981-10-8597-0_33
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-8596-3
Online ISBN: 978-981-10-8597-0
eBook Packages: EngineeringEngineering (R0)