OPTIMIZING PYRAMID VISIBILITY COVERAGE FOR AUTONOMOUS ROBOTS IN 3D ENVIRONMENT

被引：0

作者：

Yu, Wuyi ^{[1
,2
]}

Li, Maoqing ^{[2
]}

Li, Xin ^{[3
]}

机构：

[1] Louisiana State Univ, Sch Elect Engn & Comp Sci, Comp Sci & Engn Div, Baton Rouge, LA 70803 USA

[2] Xiamen Univ, Dept Automat, Xiamen 361005, Peoples R China

[3] Louisiana State Univ, Sch Elect Engn & Comp Sci, Div Elect & Comp Engn, Ctr Computat & Technol, Baton Rouge, LA 70803 USA

来源：

CONTROL AND INTELLIGENT SYSTEMS | 2014年 / 42卷 / 01期

基金：

中国国家自然科学基金; 美国国家科学基金会;

关键词：

3D region guarding; visibility coverage;

D O I：

10.2316/Journal.201.2014.1.201-2516

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the optimal visibility coverage for autonomous robots in complex 3D environments. When a robot equipped with a range sensor is sent to inspect a 3D region, we want the complete visual coverage on the entire region using smallest number of scans. The practical sensor equipped on the robot usually has a pyramid-shaped visible range with restricted scanning distance and angle. Finding the optimal pyramid visibility coverage of a 3D region is NP hard. In this paper we present an efficient computation algorithm to find a good approximate solution. Our framework allows the user to flexibly specify a coverage rate parameter to balance the percentage of visibility and the required guarding points for the given region. The algorithm is assessed in a simulated 3D pipeline environment for the detection of leak, clog, and deformation.

引用

页码：9 / 16

页数：8

共 50 条

[1] Optimizing Pyramid Visibility Coverage for Autonomous Robots in 3D Environment
Yu, Wuyi
Li, Maoqing
Li, Xin
PROCEEDINGS OF THE 2013 8TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE & EDUCATION (ICCSE 2013), 2013, : 1023 - 1028
[2] Energy Efficient Coverage Path Planning for Autonomous Mobile Robots on 3D Terrain
Dogru, Sedat
Marques, Lino
2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC), 2015, : 118 - 123
[3] Towards Fully Autonomous Energy Efficient Coverage Path Planning for Autonomous Mobile Robots on 3D Terrain
Dogru, Sedat
Marques, Lino
2015 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR), 2015,
[4] Fast 3D reconstruction for small autonomous robots
Cardon, DL
Fife, WS
Archibald, JK
Lee, DJ
IECON 2005: THIRTY-FIRST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, 2005, : 373 - 378
[5] Efficient Change Detection in 3D Environment for Autonomous Surveillance Robots based on Implicit Volume
Vieira, Antonio W.
Drews, Paulo L. J., Jr.
Campos, Mario F. M.
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 2999 - 3004
[6] Spatial Density Patterns for Efficient Change Detection in 3D Environment for Autonomous Surveillance Robots
Vieira, Antonio W.
Drews, Paulo L. J., Jr.
Campos, Mario F. M.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2014, 11 (03) : 766 - 774
[7] Dynamic Coverage Control via Underactuated Autonomous Underwater Vehicles in Unknown 3D Environment
Shamshirgaran, Azin
Abdollahi, Farzaneh
2016 4TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA), 2016, : 333 - 338
[8] Autonomous Pathfinding in Simulated 3D Environment
Raja, Sidharth
Bhatia, Tanuj
Mishra, Akshat
Kashyap, Sanket
Verma, Om Prakash
PROCEEDINGS OF 2017 INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE (ICRAI 2017), 2015, : 56 - 60
[9] Towards 3D object maps for autonomous household robots
Rusu, Radu Bogdan
Blodow, Nico
Marton, Zoltan
Soos, Alina
Beetz, Michael
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 3197 - 3204
[10] A Fast 3D Exploration Algorithm for Autonomous Aerial Robots
Marangoz, Salih
Ergun, Ezgi Ekin
Uslu, Erkan
Cakmak, Furkan
Altuntas, Nihal
Amasyali, Mehmet Fatih
Yavuz, Sirma
2017 25TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU), 2017,

← 1 2 3 4 5 →