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Authors: Evgeni Denisov 1 ; Artur Sagitov 1 ; Konstantin Yakovlev 2 ; Kuo-Lan Su 3 ; Mikhail Svinin 4 and Evgeni Magid 1

Affiliations: 1 Department of Intelligent Robotics, Higher Institute for Information Technology and Intelligent Systems, Kazan Federal University, 35 Kremlyovskaya street, Kazan and Russian Federation ; 2 Federal Research Center ”Computer Science and Control” of Russian Academy of Sciences, Moscow and Russian Federation ; 3 Department of Electrical Engineering, National Yunlin University of Science and Technology, Tainan City and Taiwan ; 4 Robot Dynamics and Control Laboratory, College of Information Science and Engineering, Ritsumeikan University, Noji Higashi 1-1-1, Kusatsu 525-8577 and Japan

Keyword(s): Mobile Robot, Path Planning, Autonomous Exploration and Coverage Algorithm, Next-best-view, Dense Clutter Environment, Environment Reconstruction.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 409-416. DOI: 10.5220/0007923304090416

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress