Vision cameras are heavily relied upon for obstacle detection of the rescue robot in disaster site. However disaster areas are generally dark and filled with dust, smoke and gas therefore difficult to see in. It is difficult to decide the behavior of ...
Vision cameras are heavily relied upon for obstacle detection of the rescue robot in disaster site. However disaster areas are generally dark and filled with dust, smoke and gas therefore difficult to see in. It is difficult to decide the behavior of a rescue robot endowed with multi-driving mode, adapted to the terrain to traverse. This paper presents new method of obstacle detection using PSD infrared sensor and driving mode decision for rescue robot that has a variable geometry single-track mechanism. This system computed the obstacle height and angle from distance between robot and obstacle, PSD sensor. By the information, rescue robot can overcome the obstacles that translate the variable tracks on the best suited mode. It can improve the ability to overcome obstacle, like stairs and slope.