Roads Sweeping by Unmanned Multi-vehicle Formations

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00184238" target="_blank" >RIV/68407700:21230/11:00184238 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Roads Sweeping by Unmanned Multi-vehicle Formations

Popis výsledku v původním jazyce

A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-world environments withstatic and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into account length of robots' effectors (e.g. shovels, sweepers) and width of the working area. Presented method enables to smoothly merge smaller teams withthe view of sweeping the larger roads (e.g. runways, highways). The formations can operate in two modes: sweeping and moving. In the sweeping mode, the formations are guided with an aim to effectively cover the cleaning roads, while in the moving mode,the planning system emphasizes the effort to reach a desired target. Furthermore, the moving mode enables to autonomously design complex formation maneuvers, as is reverse driving or turning on spot.

Název v anglickém jazyce

Roads Sweeping by Unmanned Multi-vehicle Formations

Popis výsledku anglicky

A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-world environments withstatic and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into account length of robots' effectors (e.g. shovels, sweepers) and width of the working area. Presented method enables to smoothly merge smaller teams withthe view of sweeping the larger roads (e.g. runways, highways). The formations can operate in two modes: sweeping and moving. In the sweeping mode, the formations are guided with an aim to effectively cover the cleaning roads, while in the moving mode,the planning system emphasizes the effort to reach a desired target. Furthermore, the moving mode enables to autonomously design complex formation maneuvers, as is reverse driving or turning on spot.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2011

Kód důvěrnosti údajů

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

Název statě ve sborníku

ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation

ISBN

978-1-61284-386-5

ISSN

1050-4729

e-ISSN

—

Počet stran výsledku

6

Strana od-do

631-636

Název nakladatele

Omnipress

Místo vydání

Madison

Místo konání akce

Shanghai

Datum konání akce

9. 5. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—