Browse > Article
http://dx.doi.org/10.7780/kjrs.2022.38.6.3.7

Development and Performance Evaluation of Multi-sensor Module for Use in Disaster Sites of Mobile Robot  

Jung, Yonghan (Disaster Scientific Investigation Division, National Disaster Management Research Institute)
Hong, Junwooh (Department of Convergence IT Engineering, Pohang University of Science and Technology)
Han, Soohee (Department of Convergence IT Engineering, Pohang University of Science and Technology)
Shin, Dongyoon (Mobility Convergence Department, Korea Cadastral Survey Corporation)
Lim, Eontaek (Disaster Scientific Investigation Division, National Disaster Management Research Institute)
Kim, Seongsam (Disaster Scientific Investigation Division, National Disaster Management Research Institute)
Publication Information
Korean Journal of Remote Sensing / v.38, no.6_3, 2022 , pp. 1827-1836 More about this Journal
Abstract
Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.
Keywords
Disaster; Man-made incident; Robot; SLAM; Multi-sensor module; LiDAR; Damage investigation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Jo, J.W. and K.M. Jeong, 2011. Investigation of the emergency response robots used for mitigation of severe accident of the Fukushima nuclear power plant, Journal of Institute of Control, Robotics and Systems, 2011(7): 1-8.
2 Kim, S.S. and D.Y. Shin, 2021. Current status of technology development and policy recommendations of disaster robot for inaccessible disaster site, Journal of the Korea Academia-Industrial Cooperation Society, 22(11): 270-276 (in Korean with English abstract). https://doi/org/10.5462/KAIS.2021.22.11.270   DOI
3 Lee, J.H., M.R. Kim, and J.C. Go, 2021. A study on the development plan for promotion of advanced disaster-safety awareness, Journal of the Society of Disaster Information, 17(3): 415-426 (in Korean with English abstract). https://doi.org/10.15683/kosdi.2021.9.30.415   DOI
4 Toschi, I., P. Rodriguez-Gonzalvez, F. Remondino, S. Minto, S. Orlandini, and A. Fuller, 2015. Accuracy evaluation of a mobile mapping system with advanced statistical methods, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 40: 245-253. https://doi/org/10.5194/isprsarchives-XL-5-W4-245-2015   DOI
5 Zhang, J. and S. Singh, 2014. LOAM: Lidar odometry and mapping in real-time, Robotics: Science and Systems, 2(9): 1-9.
6 Choi, H.Y., 2017. LiDAR sensor technology and industry trends, Journal of Korean Institute of Electrical Engineers, 66(9): 12-17.
7 Shan, T., B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus, 2020. LIO-SAM: Tightly-coupled Lidar inertial odometry via smoothing and mapping, Proc. of 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, Oct. 25-29, pp. 5135-5142. https://doi/org/10.48550/arXiv.2007.00258   DOI
8 Kim, J.D., K.K. Kwon, and S.I. Lee, 2012. Trends and applications on Lidar sensor technology, Electronics and Telecommunications Trends, 27(6): 134-143.