Influence of data clouds fusion from 3D real-time vision system on robotic group dead reckoning in unknown terrain
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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Influence of data clouds fusion from 3D real-time vision system on robotic group dead reckoning in unknown terrain. / Ivanov, Mykhailo; Sergyienko, Oleg; Tyrsa, Vera et al.
in: IEEE/CAA Journal of Automatica Sinica, Jahrgang 7, Nr. 2, 01.03.2020, S. 368-385.Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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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 -