The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Target Position Reasoning System for Disaster Response Robot based on Bayesian Network

베이지안 네트워크 기반 재난 대응 로봇의 탐색 목표 추론 시스템

  • Received : 2018.08.30
  • Accepted : 2018.11.13
  • Published : 2018.11.30
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Abstract

In this paper, we introduce a target position reasoning system based on Bayesian network that selects destinations of robots on a map to explore compound disaster environments. Compound disaster accidents have hazardous conditions because of a low visibility and a high temperature. Before firefighters enter the environment, the robots notify information in advance, such as victim's positions, number of victims, and status of debris of building. The problem of the previous system is that the system requires a target position to operate the robots and the firefighter need to learn how to use the robot. However, selecting the target position is not easy because of the information gap between eyewitness accounts and map coordinates. In addition, learning the technique how to use the robots needs a lot of time and money. The proposed system infers the target area using Bayesian network and selects proper x, y coordinates on the map based on image processing methods of the map. To verify the proposed system, we designed three example scenarios based on eyewetinees testimonies and compared time consumption between human and the system. In addition, we evaluate the system usability by 40 subjects.

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Cited by

  1. Research Trends on Disaster Response Robots vol.36, pp.4, 2019, https://doi.org/10.7736/kspe.2019.36.4.331