Tether Monitoring For Entanglement Detection, Disentanglement And Localisation Of Autonomous Robots

Keywords

Catenary curves; Entanglement detection; Multi-robot systems; Robot localisation; Tethered robots

Abstract

Tethered mobile robots are ideal for electrically noisy environments and for time-consuming tasks that require robust data communication and uninterrupted power delivery. However, tethers may become entangled in cluttered environments, leading to immobilisation and consequent mission failure. This work addresses real-time monitoring of tethers to detect tether entanglement, perform disentanglement through tether following and localise within line of sight. Experimental hardware is proposed to implement the tether monitoring techniques. Experiments are performed for single and dual mobile robots to search a target environment and entanglement detection is shown to be successful using quantitative metrics such as mean localization error.

Publication Date

3-1-2016

Publication Title

Robotica

Volume

34

Issue

3

Number of Pages

527-548

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1017/S0263574714001623

Socpus ID

84956865474 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84956865474

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