TY - JOUR

T1 - Influence of data clouds fusion from 3D real-time vision system on robotic group dead reckoning in unknown terrain

AU - Ivanov, Mykhailo

AU - Sergyienko, Oleg

AU - Tyrsa, Vera

AU - Lindner, Lars

AU - Flores-Fuentes, Wendy

AU - Rodriguez-Quinonez, Julio Cesar

AU - Hernandez, Wilmar

AU - Mercorelli, Paolo

PY - 2020/3/1

Y1 - 2020/3/1

N2 - This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain. The navigation scheme uses the benefits of the original real-Time technical vision system TVS based on a dynamic triangulation principle. The method uses TVS output data with fuzzy logic rules processing for resolution stabilization. Based on previous researches, the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group. According to the comparative analysis of approximation methods, in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory. The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.

AB - This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain. The navigation scheme uses the benefits of the original real-Time technical vision system TVS based on a dynamic triangulation principle. The method uses TVS output data with fuzzy logic rules processing for resolution stabilization. Based on previous researches, the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group. According to the comparative analysis of approximation methods, in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory. The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85081631014&partnerID=8YFLogxK

UR - http://www.ieee-jas.org/archive_list_en.htm

UR - http://www.ieee-jas.org/article/doi/10.1109/JAS.2020.1003027?pageType=en

U2 - 10.1109/JAS.2020.1003027

DO - 10.1109/JAS.2020.1003027

M3 - Journal articles

AN - SCOPUS:85081631014

VL - 7

SP - 368

EP - 385

JO - IEEE/CAA Journal of Automatica Sinica

JF - IEEE/CAA Journal of Automatica Sinica

SN - 2329-9266

IS - 2

ER -