| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2019 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
Сагитов Артур Газизович, автор
|
|
Денисов Евгений Валерьевич, автор
|
| Библиографическое описание на языке оригинала |
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. |
| Аннотация |
The 16th International Conference on Informatics in Control, Automation and Robotics |
| Ключевые слова |
Mobile Robot, Path Planning, Autonomous Exploration and Coverage Algorithm, Next-best-view, Dense Clutter Environment, Environment Reconstruction. |
| Название журнала |
The 16th International Conference on Informatics in Control, Automation and Robotics
|
| URL |
https://www.scitepress.org/Link.aspx?doi=10.5220/0007923304090416 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=257440 |
| Файлы ресурса | |
|
|
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Сагитов Артур Газизович |
ru_RU |
| dc.contributor.author |
Денисов Евгений Валерьевич |
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/?p_id=257440 |
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 |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
|
EN 
中文 
ES 
Карта сайта
