Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755041
Farhad Abbasi Aghdam Meinagh, E. Babaei, D. Vinnikov, A. Chub
In this paper, a new control method based on combination of pulse-width modulation (PWM) and phase shift is applied to high voltage gain quasi-switched boost inverter (HG-qSBI), which enlarges its voltage gain and provides soft switching for its switches. Moreover, exploiting the proposed switching algorithm will add another parameter, phase shift value, to the voltage gain equation, which will increase flexibility of the inverter. In this paper, the steady-state analysis and design procedure are given. Then, the presented HG-qSBI with proposed switching algorithm is compared with other similar inverters to evaluate its capabilities. Finally, the simulation results in PSCAD/EMTDC software are given to validate the theoretical analysis.
{"title":"Modified High Voltage Gain Soft-Switched Quasi-Switched Boost Inverter","authors":"Farhad Abbasi Aghdam Meinagh, E. Babaei, D. Vinnikov, A. Chub","doi":"10.1109/ICIT.2019.8755041","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755041","url":null,"abstract":"In this paper, a new control method based on combination of pulse-width modulation (PWM) and phase shift is applied to high voltage gain quasi-switched boost inverter (HG-qSBI), which enlarges its voltage gain and provides soft switching for its switches. Moreover, exploiting the proposed switching algorithm will add another parameter, phase shift value, to the voltage gain equation, which will increase flexibility of the inverter. In this paper, the steady-state analysis and design procedure are given. Then, the presented HG-qSBI with proposed switching algorithm is compared with other similar inverters to evaluate its capabilities. Finally, the simulation results in PSCAD/EMTDC software are given to validate the theoretical analysis.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"2003 1","pages":"1087-1092"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86256656","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8754942
R. Willmann
Metal-based 3D-printing is nowadays particularly applied by branches with special needs concerning weight and strength as well as complexity of geometries of metal parts (e.g. aeronautics, automotive), or in case of needs with respect to logistics of metal spare parts (e.g. defense). The broader community of manufacturing enterprises still struggles with a holistic economic decision-making that covers aspects of geometry, supply-chain management, future maintenances, or the production volume over a product’s lifetime. This paper introduces a concept of a recommender system that supports the decision-making during product design and manufacturing process design in order to validate economics of the involvement of 3D-printing for creating single components or parts of the designed product.
{"title":"Product design with integrated holistic validation of economics of metal-based 3D-printing by the help of a recommender system","authors":"R. Willmann","doi":"10.1109/ICIT.2019.8754942","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754942","url":null,"abstract":"Metal-based 3D-printing is nowadays particularly applied by branches with special needs concerning weight and strength as well as complexity of geometries of metal parts (e.g. aeronautics, automotive), or in case of needs with respect to logistics of metal spare parts (e.g. defense). The broader community of manufacturing enterprises still struggles with a holistic economic decision-making that covers aspects of geometry, supply-chain management, future maintenances, or the production volume over a product’s lifetime. This paper introduces a concept of a recommender system that supports the decision-making during product design and manufacturing process design in order to validate economics of the involvement of 3D-printing for creating single components or parts of the designed product.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"39 1","pages":"806-811"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84844345","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755106
Duc Tan Vu, N. Nguyen, É. Semail
This paper studies control strategies using modified transformation matrices when five-phase machines operate in one-open-phase faults. The basic idea of these methods is to maintain the rotating field under asymmetrical conditions as the same as in healthy condition by determining new transformation matrices. The dimension of the new matrices is equal to the number of remaining healthy phases in post-fault conditions. There have been different ways to determine the new transformation matrices applied for different types of five-phase machines in recent decades. In this study, an overview and analyses on these methods will be presented. In addition, advantages and drawbacks of these control strategies are clarified by numerical results.
{"title":"An Overview of Methods using Reduced-Ordered Transformation Matrices for Fault-Tolerant Control of 5-phase Machines with an Open Phase","authors":"Duc Tan Vu, N. Nguyen, É. Semail","doi":"10.1109/ICIT.2019.8755106","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755106","url":null,"abstract":"This paper studies control strategies using modified transformation matrices when five-phase machines operate in one-open-phase faults. The basic idea of these methods is to maintain the rotating field under asymmetrical conditions as the same as in healthy condition by determining new transformation matrices. The dimension of the new matrices is equal to the number of remaining healthy phases in post-fault conditions. There have been different ways to determine the new transformation matrices applied for different types of five-phase machines in recent decades. In this study, an overview and analyses on these methods will be presented. In addition, advantages and drawbacks of these control strategies are clarified by numerical results.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"1 1","pages":"1557-1562"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84881264","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755206
Zhenya Zang, Yao Liu, R. Cheung
In IoT (Internet of Things) applications, security issues are increasingly attracting attention. However, current embedded processors lack cryptographic protection mechanism. In this paper, an austere RISC-V core processor with RV32I subset instruction is deemed as a master device to cooperate with an AES cryptographic engine in an SoC, due to its openness and flexibility. This core contains separate instructions and a data bus connected to a Wishbone crossbar. A Spartan-6 XC6SLX9 board is taken as an architecture protocol verification platform, where the peak operating frequency of the RISC-V core and the encryption SoC is 105MHz and 111.5MHz, respectively. The hardware resource utilization is reduced compared with the MIPS core with identical efforts
{"title":"Reconfigurable RISC-V Secure Processor And SoC Integration","authors":"Zhenya Zang, Yao Liu, R. Cheung","doi":"10.1109/ICIT.2019.8755206","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755206","url":null,"abstract":"In IoT (Internet of Things) applications, security issues are increasingly attracting attention. However, current embedded processors lack cryptographic protection mechanism. In this paper, an austere RISC-V core processor with RV32I subset instruction is deemed as a master device to cooperate with an AES cryptographic engine in an SoC, due to its openness and flexibility. This core contains separate instructions and a data bus connected to a Wishbone crossbar. A Spartan-6 XC6SLX9 board is taken as an architecture protocol verification platform, where the peak operating frequency of the RISC-V core and the encryption SoC is 105MHz and 111.5MHz, respectively. The hardware resource utilization is reduced compared with the MIPS core with identical efforts","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"41 1","pages":"827-832"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84242836","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8754953
P. Deshmukh, Abhinav Arya, S. Anand
On-state voltage is predominantly used in the health monitoring of the IGBT. In this paper, fast, accurate and online on-state voltage measurement circuit is suggested for an IGBT. The circuit is capable of measuring positive on-state collector-emitter voltage (VCE–ON) and negative forward voltage (VF) of anti-parallel diode. The measurement circuit offers the scaling/shifting of the on-state voltage, which facilitates direct connection of Analog to Digital (ADC), to monitor the voltage in digital controllers. The key advantage of the suggested circuit is that the overall measurement error is about ± 0.111%, which is below the allowable error limits (± 0.33%) for condition monitoring of the IGBT. A flexible voltage clamping is provided, during OFF state of device, to minimize the error in the measurement. Different possible errors in the measurement are due to, i) resistor mismatch, ii) diode voltages mismatch, and iii) ADC quantisation and opamp. The detailed analysis of the mentioned errors is presented in this paper. Simulation and experimental validation of suggested circuit is carried out and results are also compared with previously reported measurement circuits.
{"title":"Error Analysis of An Accurate Bipolar Voltage Measurement Circuit for Online Health Monitoring of IGBTs","authors":"P. Deshmukh, Abhinav Arya, S. Anand","doi":"10.1109/ICIT.2019.8754953","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754953","url":null,"abstract":"On-state voltage is predominantly used in the health monitoring of the IGBT. In this paper, fast, accurate and online on-state voltage measurement circuit is suggested for an IGBT. The circuit is capable of measuring positive on-state collector-emitter voltage (VCE–ON) and negative forward voltage (VF) of anti-parallel diode. The measurement circuit offers the scaling/shifting of the on-state voltage, which facilitates direct connection of Analog to Digital (ADC), to monitor the voltage in digital controllers. The key advantage of the suggested circuit is that the overall measurement error is about ± 0.111%, which is below the allowable error limits (± 0.33%) for condition monitoring of the IGBT. A flexible voltage clamping is provided, during OFF state of device, to minimize the error in the measurement. Different possible errors in the measurement are due to, i) resistor mismatch, ii) diode voltages mismatch, and iii) ADC quantisation and opamp. The detailed analysis of the mentioned errors is presented in this paper. Simulation and experimental validation of suggested circuit is carried out and results are also compared with previously reported measurement circuits.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"124 1","pages":"434-439"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87987805","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755132
Md. Nazmul Islam Sarkar, Lasantha Gunaruwan Meegahapola, M. Datta
Due to integration of large amount of renewable energy generators (REGs) to the power grid, implementation of reactive power support mechanisms as well as their optimal placement and operation are becoming a real challenge for the transmission/distribution system operators. Besides, because of the stochastic nature of renewable energy generation, reactive power planning and optimization in renewable rich power grids are an arduous task. In this paper, an optimal reactive power dispatch problem is formulated incorporating the reactive power support from the renewable energy generators. Two coordinated optimization algorithms (particle swarm optimization and pattern search algorithm) are combined to enhance the optimization performance. Finally, the IEEE 39 New England test bus system is modified and used to perform the optimization.
{"title":"Optimal Reactive Power Dispatch Considering Reactive Power Support from Renewable Energy Generators","authors":"Md. Nazmul Islam Sarkar, Lasantha Gunaruwan Meegahapola, M. Datta","doi":"10.1109/ICIT.2019.8755132","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755132","url":null,"abstract":"Due to integration of large amount of renewable energy generators (REGs) to the power grid, implementation of reactive power support mechanisms as well as their optimal placement and operation are becoming a real challenge for the transmission/distribution system operators. Besides, because of the stochastic nature of renewable energy generation, reactive power planning and optimization in renewable rich power grids are an arduous task. In this paper, an optimal reactive power dispatch problem is formulated incorporating the reactive power support from the renewable energy generators. Two coordinated optimization algorithms (particle swarm optimization and pattern search algorithm) are combined to enhance the optimization performance. Finally, the IEEE 39 New England test bus system is modified and used to perform the optimization.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"50 1","pages":"667-672"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88080207","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8754969
Ming‐Feng Ge, Leimin Wang, Xiao-Wen Zhao, Zhiwei Liu, Dandan Hu
This paper focuses on the practical formation tracking problem of networked underactuated vehicles (NUVs) on group SE(3) in the case of directed interaction topologies. To solve the aforementioned problem, a new class of estimator-based nonlinear controller is designed based on distributed sliding mode estimators. Based on the Lyapunov theory, the practical convergence property of the closed-loop system is analyzed and the corresponding sufficient criteria for solving the considered problem are obtained. The presented results are also extended to address other kinds of coordination problems, including practical leader-following consensus tracking problem and leader-following consensus problem. Future work will focuses on the applications to the special group SE(2) and the experiments of the proposed control algorithm.
{"title":"Practical Formation Tracking of Networked Underactuated Vehicles on Group SE(3)","authors":"Ming‐Feng Ge, Leimin Wang, Xiao-Wen Zhao, Zhiwei Liu, Dandan Hu","doi":"10.1109/ICIT.2019.8754969","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754969","url":null,"abstract":"This paper focuses on the practical formation tracking problem of networked underactuated vehicles (NUVs) on group SE(3) in the case of directed interaction topologies. To solve the aforementioned problem, a new class of estimator-based nonlinear controller is designed based on distributed sliding mode estimators. Based on the Lyapunov theory, the practical convergence property of the closed-loop system is analyzed and the corresponding sufficient criteria for solving the considered problem are obtained. The presented results are also extended to address other kinds of coordination problems, including practical leader-following consensus tracking problem and leader-following consensus problem. Future work will focuses on the applications to the special group SE(2) and the experiments of the proposed control algorithm.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"6 1","pages":"1442-1445"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86621698","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755170
Sangdae Kim, Cheonyong Kim, Hyunchong Cho, Taehun Yang, Sang-Ha Kim, Kwansoo Jung
The Industrial Wireless Sensor Networks (IWSNs) have been exploited in various industrial applications in order to improve the productivity and reduce the cost. Recently, today’s diverse industrial fields such as manufacturing, automotive and logistics demand the cooperation of both the static nodes and mobile nodes in order to foster better efficient industrial environment. However, the existing industrial wireless sensor networks standards have been focused on the network where consist of the static nodes only. Thus, the performance of the current standards would be reduced in the environments with mobile nodes. The movement of the mobile node causes the network changes and a path related to the mobile node would be disconnected until the network adapts to the changes. This phenomenon leads to loss of the data and the command, finally, it brings about a critical problem in the industrial environment where requires high-reliability and high-exactitude. To solve the problem, we propose the routing graph construction for minimizing of the network changes from the mobile nodes. The proposed method constructs the graph by distinguishing between the static node and the mobile node. To construct the graph, a skeleton graph constructed consists of the static nodes, and the mobile nodes are grafted on the graph. This is achieved that minimizing the effect of the network change and reduce the number of the disconnected path. The proposed method could be adapted to the various standards which exploit the graph for the routing. In this paper, we adapt the proposed method to the WirelessHART standard. Through the simulation result, we verify that the proposed method would reduce the damage of the network changes from the mobile node rather than the current WirelessHART standard.
{"title":"Routing Graph Management for Mobility Support in Industrial Wireless Sensor Networks","authors":"Sangdae Kim, Cheonyong Kim, Hyunchong Cho, Taehun Yang, Sang-Ha Kim, Kwansoo Jung","doi":"10.1109/ICIT.2019.8755170","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755170","url":null,"abstract":"The Industrial Wireless Sensor Networks (IWSNs) have been exploited in various industrial applications in order to improve the productivity and reduce the cost. Recently, today’s diverse industrial fields such as manufacturing, automotive and logistics demand the cooperation of both the static nodes and mobile nodes in order to foster better efficient industrial environment. However, the existing industrial wireless sensor networks standards have been focused on the network where consist of the static nodes only. Thus, the performance of the current standards would be reduced in the environments with mobile nodes. The movement of the mobile node causes the network changes and a path related to the mobile node would be disconnected until the network adapts to the changes. This phenomenon leads to loss of the data and the command, finally, it brings about a critical problem in the industrial environment where requires high-reliability and high-exactitude. To solve the problem, we propose the routing graph construction for minimizing of the network changes from the mobile nodes. The proposed method constructs the graph by distinguishing between the static node and the mobile node. To construct the graph, a skeleton graph constructed consists of the static nodes, and the mobile nodes are grafted on the graph. This is achieved that minimizing the effect of the network change and reduce the number of the disconnected path. The proposed method could be adapted to the various standards which exploit the graph for the routing. In this paper, we adapt the proposed method to the WirelessHART standard. Through the simulation result, we verify that the proposed method would reduce the damage of the network changes from the mobile node rather than the current WirelessHART standard.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"56 1","pages":"963-968"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87728765","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755191
S. E. Pandarakone, S. Gunasekaran, Keisuke Asano, Y. Mizuno, Hisahide Nakamura
To increase the reliability of induction motor (IM), several techniques have been proposed in condition monitoring and fault diagnosis. Bearings are the most sensitive part of IM, and fault occurring must be considered. In industry, scratch seems the most frequently occurring fault in bearing, and only few researches have encountered this issue. This paper is motivated by considering hole and scratch as faulty factor. A fast Fourier transform analysis is carried out, the features are extracted and used for training the diagnostic algorithm. Two types of diagnosis methods are proposed; machine learning algorithm and artificial intelligence method (AI). Among the various machine learning algorithms, Support Vector Machine (SVM) is selected because of its superiority over the data preprocessing. Deep Learning Algorithm (DL) is selected in case of AI because of its intrinsic property over feature learning. A Convolutional Neural Network (CNN) architecture is originally used for fault characterization. The advantage of both the diagnosis methods and the possibility in detecting the minor bearing faults are discussed. Finally, effectiveness of the proposed methods is validated based on the experimental and diagnosis results.
{"title":"A Study on Machine Learning and Artificial Intelligence Methods in Detecting the Minor Outer-Raceway Bearing Fault","authors":"S. E. Pandarakone, S. Gunasekaran, Keisuke Asano, Y. Mizuno, Hisahide Nakamura","doi":"10.1109/ICIT.2019.8755191","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755191","url":null,"abstract":"To increase the reliability of induction motor (IM), several techniques have been proposed in condition monitoring and fault diagnosis. Bearings are the most sensitive part of IM, and fault occurring must be considered. In industry, scratch seems the most frequently occurring fault in bearing, and only few researches have encountered this issue. This paper is motivated by considering hole and scratch as faulty factor. A fast Fourier transform analysis is carried out, the features are extracted and used for training the diagnostic algorithm. Two types of diagnosis methods are proposed; machine learning algorithm and artificial intelligence method (AI). Among the various machine learning algorithms, Support Vector Machine (SVM) is selected because of its superiority over the data preprocessing. Deep Learning Algorithm (DL) is selected in case of AI because of its intrinsic property over feature learning. A Convolutional Neural Network (CNN) architecture is originally used for fault characterization. The advantage of both the diagnosis methods and the possibility in detecting the minor bearing faults are discussed. Finally, effectiveness of the proposed methods is validated based on the experimental and diagnosis results.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"30 1 1","pages":"994-999"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85527391","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}
Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8754938
Cheng-Yan Wu, H. Lin
In recent years, robots have been quickly integrated into people’s daily lives. To allow the robots to navigate autonomously, accurate maps have to be provided. Therefore, it is important to make robots to obtain maps automatically and improve the efficiency of autonomous exploration. In this paper, we propose a method based on the rapidly-exploring random tree (RRT) and frontier 2D-SLAM exploration techniques. The proposed system is divided into three parts. First, we construct an initial map with laser range data, and use RRT and frontier detector to identify the frontier points of the initial map. The frontier points are then filtered and clustered to reduce the total number and the computation load. Finally, the score of each frontier point is calculated and the mobile robot is directed to the unknown areas until the map is constructed. In the experiments, the performance is evaluated in various synthetic scenes and real indoor environments. The results show that our system is able to successfully complete the autonomous exploration task in a reasonable time.
{"title":"Autonomous Mobile Robot Exploration in Unknown Indoor Environments Based on Rapidly-exploring Random Tree","authors":"Cheng-Yan Wu, H. Lin","doi":"10.1109/ICIT.2019.8754938","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754938","url":null,"abstract":"In recent years, robots have been quickly integrated into people’s daily lives. To allow the robots to navigate autonomously, accurate maps have to be provided. Therefore, it is important to make robots to obtain maps automatically and improve the efficiency of autonomous exploration. In this paper, we propose a method based on the rapidly-exploring random tree (RRT) and frontier 2D-SLAM exploration techniques. The proposed system is divided into three parts. First, we construct an initial map with laser range data, and use RRT and frontier detector to identify the frontier points of the initial map. The frontier points are then filtered and clustered to reduce the total number and the computation load. Finally, the score of each frontier point is calculated and the mobile robot is directed to the unknown areas until the map is constructed. In the experiments, the performance is evaluated in various synthetic scenes and real indoor environments. The results show that our system is able to successfully complete the autonomous exploration task in a reasonable time.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"83 1","pages":"1345-1350"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85554074","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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