The multi-robot complete coverage problem in unknown area refers to that multi-robots obtain environment information through their sensors in unknown environment, and cooperate with each other to search the specific task area. For the complete-coverage path planning of multiple mobile robots, an algorithm based on grid reliability function was proposed. Firstly, positional reliability function value is calculated according to the information of the environment, the obstacles, covered grids and uncovered grids; Secondly, in order to reduce the path repetition rate and improve the coverage efficiency, the directional reliability function is introduced to adjust the grid function values and guides robots to uncovered grid efficiently; Thirdly, the robots make sure that there will be no excessive proximity between robots while robots cover the area, the density between robots is measured by dense reliability function value. In the final session, by compared with bio-inspired neural network algorithm in two scenarios: box simulation and simulated real environment in gazebo world, the algorithm proposed in this paper was verified to own lower repetition rate and shorter trajectory length.
{"title":"Complete-Coverage Path Planning Algorithm of Multiple Mobile Robots Based on Reliability Functions","authors":"Shuai Zhang, Jianlei Zhang","doi":"10.1145/3529763.3529766","DOIUrl":"https://doi.org/10.1145/3529763.3529766","url":null,"abstract":"The multi-robot complete coverage problem in unknown area refers to that multi-robots obtain environment information through their sensors in unknown environment, and cooperate with each other to search the specific task area. For the complete-coverage path planning of multiple mobile robots, an algorithm based on grid reliability function was proposed. Firstly, positional reliability function value is calculated according to the information of the environment, the obstacles, covered grids and uncovered grids; Secondly, in order to reduce the path repetition rate and improve the coverage efficiency, the directional reliability function is introduced to adjust the grid function values and guides robots to uncovered grid efficiently; Thirdly, the robots make sure that there will be no excessive proximity between robots while robots cover the area, the density between robots is measured by dense reliability function value. In the final session, by compared with bio-inspired neural network algorithm in two scenarios: box simulation and simulated real environment in gazebo world, the algorithm proposed in this paper was verified to own lower repetition rate and shorter trajectory length.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134309168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the system design of electric robot, in order to improve the realism and telepresence of robot control, virtual reality (VR) technology is introduced into the design process, which can bring better experience to users. This paper studies a high telepresence visual perception method, adopts VR technology, depth camera and three degree of freedom series robot, and designs the inverse kinematics solution and target scaling algorithm of the operating system, which is of great research significance for the visual design of electric robot.
{"title":"A High Telepresence Visual Perception Method Based on VR Technology, Depth Camera and Three Degree of Freedom Series Robot","authors":"Zhiwen Xie, Zeyu Shi, Hui Wu","doi":"10.1145/3529763.3529767","DOIUrl":"https://doi.org/10.1145/3529763.3529767","url":null,"abstract":"In the system design of electric robot, in order to improve the realism and telepresence of robot control, virtual reality (VR) technology is introduced into the design process, which can bring better experience to users. This paper studies a high telepresence visual perception method, adopts VR technology, depth camera and three degree of freedom series robot, and designs the inverse kinematics solution and target scaling algorithm of the operating system, which is of great research significance for the visual design of electric robot.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114818648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Proceedings of the 3rd International Conference on Service Robotics Technologies","authors":"","doi":"10.1145/3529763","DOIUrl":"https://doi.org/10.1145/3529763","url":null,"abstract":"","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122401876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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