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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

ISBN: 978-989-758-380-3

ISSN: 2184-2809

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, 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},
}

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

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