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Volume 7 Issue 2
Mar.  2020

IEEE/CAA Journal of Automatica Sinica

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Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Wilmar Hernandez and Paolo Mercorelli, "Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 368-385, Mar. 2020. doi: 10.1109/JAS.2020.1003027
Citation: Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Wilmar Hernandez and Paolo Mercorelli, "Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 368-385, Mar. 2020. doi: 10.1109/JAS.2020.1003027

Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain

doi: 10.1109/JAS.2020.1003027
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  • 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.

     

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    Highlights

    • The article covers all the task needed for complete robotic behavior model.
    • Articles describe the method of resolution stabilization for laser technical vision system.
    • Robotic navigation and trajectories are improved by implementing the data transferring within the group.

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