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- Title
UWB-Based Human-Following System with Obstacle and Crevasse Avoidance for Polar-Exploration Robots.
- Authors
Kwon, Ji-Wook; Lee, Hyoujun; Lee, Jongdeuk; Lee, Na-Hyun; Kim, Jong Chan; Uhm, Taeyoung; Choi, Young-Ho
- Abstract
This paper introduces a UWB-based human-following system for polar-exploration robots, integrating obstacle and crevasse avoidance functions to enhance the safety and efficiency of explorers in extreme environments. The proposed system determines the relative position of the explorer using UWB anchors and tags. It also utilizes real-time local obstacle mapping and path-planning algorithms to find safe paths that avoid collisions with obstacles. Simulation and real-world experiments confirm that the proposed system operates effectively in polar environments, reducing the operational burden on explorers and increasing mission success rates.
- Subjects
EXTREME environments; ROBOTS; EXPLORERS; ALGORITHMS; SUCCESS
- Publication
Applied Sciences (2076-3417), 2024, Vol 14, Issue 16, p6918
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app14166918