KFU. Card publication. Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment

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TOWARDS TOTAL COVERAGE IN AUTONOMOUS EXPLORATION FOR UGV IN 2.5D DENSE CLUTTER ENVIRONMENT

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2019

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Authors, students KFU

Denisov Evgeniy Valerevich, author

Bibliographic description in the original language

Denisov E., Sagitov A., Yakovlev K., Su K.-L., Svinin M., Magid E. Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment // The 16th International Conference on Informatics in Control, Automation and Robotics (Prague, Czech Republic; 29-31 July 2019) - p. 409-416.

Annotation

The 16th International Conference on Informatics in Control, Automation and Robotics

Keywords

Mobile Robot, Path Planning, Autonomous Exploration and Coverage Algorithm, Next-best-view, Dense Clutter Environment, Environment Reconstruction.

The name of the journal

The 16th International Conference on Informatics in Control, Automation and Robotics

URL

https://www.scitepress.org/Link.aspx?doi=10.5220/0007923304090416

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257440&p_lang=2

Resource files

File name	Size (MB)	Format
2019_Towards_Total_Coverage_in_Autonomous_Exploration_for_UGV_in_2.5D_Dense_Clutter_Environment.pdf	1,62	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Denisov Evgeniy Valerevich	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Denisov E., Sagitov A., Yakovlev K., Su K.-L., Svinin M., Magid E. Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment // The 16th International Conference on Informatics in Control, Automation and Robotics (Prague, Czech Republic; 29-31 July 2019) - p. 409-416.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257440&p_lang=2	ru_RU
dc.description.abstract	The 16th International Conference on Informatics in Control, Automation and Robotics	ru_RU
dc.description.abstract	Recent developments in 3D reconstruction systems enable to capture an environment in great detail. Several studies have provided algorithms that deal with a path-planning problem of total coverage of observable space in time-efficient manner. However, not much work was done in the area of globally optimal solutions in dense clutter environments. This paper presents a novel solution for autonomous exploration of a cluttered 2.5D environment using an unmanned ground mobile vehicle, where robot locomotion is limited to a 2D plane, while obstacles have a 3D shape. Our exploration algorithm increases coverage of 3D environment mapping comparatively to other currently available algorithms. The algorithm was implemented and tested in randomly generated dense clutter environments in MATLAB.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Mobile Robot	ru_RU
dc.subject	Path Planning	ru_RU
dc.subject	Autonomous Exploration and Coverage Algorithm	ru_RU
dc.subject	Next-best-view	ru_RU
dc.subject	Dense Clutter Environment	ru_RU
dc.subject	Environment Reconstruction.	ru_RU
dc.title	Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU