A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00171597" target="_blank" >RIV/68407700:21230/11:00171597 - isvavai.cz</a>
Result on the web
<a href="http://www.springerlink.com/content/aj8121566g735786/" target="_blank" >http://www.springerlink.com/content/aj8121566g735786/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10846-010-9449-0" target="_blank" >10.1007/s10846-010-9449-0</a>

Result language
angličtina
Original language name
A Sensor Placement Algorithm for a Mobile Robot Inspection Planning
Original language description
In this paper, we address the inspection planning problem to "see" the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of thealgorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspecti
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Project
<a href="/en/project/2C06005" target="_blank" >2C06005: A System for robotic e-learning</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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