Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment

Evgeni Denisov, Artur Sagitov, Konstantin Yakovlev, Kuo-Lan Su, Mikhail Svinin, Evgeni Magid

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.

Download


Paper Citation


in Harvard Style

Denisov E., Sagitov A., Yakovlev K., Su K., Svinin M. and Magid E. (2019). Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 409-416. DOI: 10.5220/0007923304090416


in Bibtex Style

@conference{icinco19,
author={Evgeni Denisov and Artur Sagitov and Konstantin Yakovlev and Kuo-Lan Su and Mikhail Svinin and Evgeni Magid},
title={Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={409-416},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007923304090416},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment
SN - 978-989-758-380-3
AU - Denisov E.
AU - Sagitov A.
AU - Yakovlev K.
AU - Su K.
AU - Svinin M.
AU - Magid E.
PY - 2019
SP - 409
EP - 416
DO - 10.5220/0007923304090416