Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Study on 2.5D Map Building and Map Merging Method for Rescue Robot Navigation

재난 구조용 로봇의 자율주행을 위한 지도작성 및 2.5D 지도정합에 관한 연구

  • Kim, Su Ho (Department of Mechatronics Engineering, TECH UNIVERSITY OF KOREA) ;
  • Shim, Jae Hong (Department of Mechatronics Engineering, TECH UNIVERSITY OF KOREA)
  • 김수호 (한국공학대학교 메카트로닉스공학부) ;
  • 심재홍 (한국공학대학교 메카트로닉스공학부)
  • Received : 2022.03.07
  • Accepted : 2022.03.21
  • Published : 2022.04.30
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Abstract

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

Keywords

Acknowledgement

이 논문은 2019년도 한국연구재단 기본연구지원사업, 경기도 지역협력연구센터(GRRC) 사업(다중소재 가공기술 혁신연구센터)의 지원에 의하여 연구되었음, No.2019R1F1A1061579, GRRC 2020-B02

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