TY - GEN
T1 - Development and field test of teleoperated mobile robots for active volcano observation
AU - Nagatani, Keiji
AU - Akiyama, Ken
AU - Yamauchi, Genki
AU - Yoshida, Kazuya
AU - Hada, Yasushi
AU - Yuta, Shin'Ichi
AU - Izu, Tomoyuki
AU - Mackay, Randy
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.
AB - When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.
UR - http://www.scopus.com/inward/record.url?scp=84911478223&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911478223&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942818
DO - 10.1109/IROS.2014.6942818
M3 - Conference contribution
AN - SCOPUS:84911478223
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1932
EP - 1937
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -