A Review of Mobile Robot Navigation System for Volcano Monitoring Application
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Abstract
Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.
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Evita, M. (2021). A Review of Mobile Robot Navigation System for Volcano Monitoring Application. Indonesian Journal of Physics, 32(1), 1-11. https://doi.org/10.5614/itb.ijp.2021.32.1.1
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References
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Visual and Ultrasonic Sensory Information for Quadruped Robots, International Journal of Advanced Robotic Systems, 5, 379, 2008.
[34] Y. Zhao, F. Gao, and Y. Yin, Obstacle Avoidance and Terrain Identification for a Hexapod Robot. Research Square, 2020.
[35] F. Michaud et al., AZIMUT, a leg-track-wheel robot, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, (2003) 3, 2553, 2003.
[36] D. Cui, X. Gao, and W. Guo, Mechanism design and motion ability analysis for wheel/track mobile robot, Advances in Mechanical Engineering, 8, 1, 2016.
[37] N. Babu et al., Novel Hybrid Leg-Track Locomotion Robot and its Stability Analysis Using a Unified Methodology, Procedia Computer Science, 133, 486, 2018.
[38] F. A. Moreno et al., Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces, Sensors, 20, 240, 2020.
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[41] A. De Luca, G. Oriolo, M. Vendittelli, Control of Wheeled Mobile Robots: An Experimental Overview. Lecture Notes in Control and Information Sciences, 270, 181, 2010.
[42] H. Gao et al., Adaptive motion control of wheeled mobile robot with unknown slippage, International Journal of Control, 87, 1513, 2014.
[43] M. Sorour, A. Cherubini, and P. Fraisse, Motion Control for Steerable Wheeled Mobile Manipulation, 2019 European Conference on Mobile Robots (ECMR), (2019, Prague), 1, 2019.
[44] Y. Wang et al., Motion control of a wheeled mobile robot using digital acceleration control method, International Journal of Innovative Computing, Information and Control, 9, 387, 2013.
[45] B. Kucaturk, Motion control of wheeled mobile robot, Interdisciplinary Description of Complex Systems, 13, 41, 2015.
[46] K. Iagnemma, S. Shimoda, and Z. Shiller, Near-Optimal Navigation of High Speed Mobile Robots on Uneven Terrain, IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 4098, 2008.
[47] J. Laval, L. Fabresse, and N. Bouraqadi, A methodology for testing mobile autonomous robots, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, (2013, Tokyo), 1842, 2013.
[48] G. Gao, Q. Qin, and S. Chen, Turning control of a mobile robot for greenhouse spraying based on dynamic sliding mode control, International Journal of Advanced Robotic Systems, 1, 2017.
[49] C. Koc et al., Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment, 2019 International Conference on Robotics and Automation (ICRA), (2019, Montreal), 3108, 2019.
[50] B. F. V. Perez, and P. T. Aquino, A body lifting mechanism for an autonomous service robot, II Brazilian Humanoid Robot Workshop and III Brazilian Workshop on Service Robotics, 47, 2019.
[51] X. Jin et al., Four-cable-driven parallel robot, 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013), (October, 20-23, 2013, Gwangju), 2013.
[52] R. A. Tabile et al., Design of the mechatronic architecture of an agricultural mobile robot, 5th IFAC Symposium on Mechatronic Systems, (Sept 13-15, 2010, Cambridge), 717, 2010.
[53] M. Görner, A. Chilian, H. Hirschmüller, Towards an Autonomous Walking Robot for Planetary Surfaces, i-SAIRAS 2010, (August 29-September 1, 2010, Sapporo), 170, 2010.
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[55] C. R. Gil, H. Calvo, and H. Sossa, Learning an Efficient Gait Cycle of a Biped Robot Based on Reinforcement Learning and Artificial Neural Networks, Appl. Sci., 9, 502, 2019.
[56] E. Halbach, Multi-Robot Hillside Excavation Strategies for Mars Settlement Construction, 47th International Conference on Environmental Systems, (16-20 July 2017, Charleston), 2017.
[57] Y. Shin et al., Autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments, Advances in Mechanical Engineering, 2013, 2013.
[58] S. Palazzo et al., Domain Adaptation for Outdoor Robot Traversability Estimation from RGB data with Safety-Preserving Loss, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (October 25-29, 2020, Las Vegas), 10014, 2020.
[59] C. Wang et al., Safe and Robust Mobile Robot Navigation in Uneven Indoor Environments, Sensors, 19, 2993, 2019.
[60] P. J. Durst et al., The Need for High-Fidelity Robotics Sensor Models, Journal of Robotics, 2011, 2011.
[61] Y. Zu et al., SURF-BRISK–Based Image Infilling Method for Terrain Classification of a Legged Robot, Appl. Sci., 9, 1779, 2019.
[62] M. Lacagnina et al., Modelling and Simulation of Multibody Mobile Robot for Volcanic Environment Explorations, Intl. Conference on Intelligent Robots and Systems, (October 2002, Lausanne), IEEE, 2002.
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