A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

Popis výsledku anglicky

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

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/2C06005" target="_blank" >2C06005: Systém pro robotickou tele-výuku</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

—

Svazek periodika

62

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

25

Strana od-do

329-353

Kód UT WoS článku

000290277600002

EID výsledku v databázi Scopus

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