Mobile micro-robots for cooperative search and rescue missions
Mobile robots integrated in search and rescue teams can prove to be a valuable tool, especially in environments that are not accessible or pose threats to human team members. By providing essential information to characterise their surroundings and localising themselves even under low-visibility conditions, better coordination can be achieved in planning efforts for emergency or catastrophe management missions. The Steinbeis-Transferzentrum ARS designed and constructed a mobile experimental micro-robot for locomotion and intelligent navigation (MERLIN) for a broad spectrum of indoor and outdoor tasks. Equipped with on-board sensors, MERLIN is capable of surveying and mapping its local environment, as well as estimating its position by means of advanced navigation algorithms in a global coordination system. Besides touch, ultrasonic and infrared sensors, a camera based on Photonic mixer device (PMD) - technology was used to enable 3D-imaging and to avoid the micro-robot colliding on the obstacles detected. In addition to advanced navigation features, the tele-diagnosis infrastructure provides for prompt and accurate failure detection and allows a remote tele-operations centre to assess the system's readiness based on sensor signals received. Improved confidence in the micro-robots serviceability was seen by the PELOTE consortium as an essential element of the control required in joint teams of humans and robots working together. Even thought it was not in the scope of the PELOTE project to develop a market-ready product, the user-oriented development process resulted in technical achievements applicable to a wide variety of systems. Beyond search and rescue scenarios, similar technologies can also be applied in tele-learning, industrial tele-maintenance and even planetary exploration robots.
