Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Coelho, Fabrício O.; Pinto, Milena F.; Souza, João Pedro Carvalho de; Marcato, André L. M.

doi:10.1017/s0263574719001206

Cited by 12 publications

(4 citation statements)

References 29 publications

(47 reference statements)

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“…Besides, APF is fast enough to be applied onboard of mobile robots in real-time, and it is well applied in the robotics field, as shown in refs. [50,51] and [52]. In order to overcome many of these issues, a shared control strategy is proposed.…”

Section: Vector Fieldsmentioning

confidence: 99%

Shared control methodology based on head positioning and vector fields for people with quadriplegia

et al. 2021

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Mobile robotic systems are used in a wide range of applications. Especially in the assistive field, they can enhance the mobility of the elderly and disable people. Modern robotic technologies have been implemented in wheelchairs to give them intelligence. Thus, by equipping wheelchairs with intelligent algorithms, controllers, and sensors, it is possible to share the wheelchair control between the user and the autonomous system. The present research proposes a methodology for intelligent wheelchairs based on head movements and vector fields. In this work, the user indicates where to go, and the system performs obstacle avoidance and planning. The focus is developing an assistive technology for people with quadriplegia that presents partial movements, such as the shoulder and neck musculature. The developed system uses shared control of velocity. It employs a depth camera to recognize obstacles in the environment and an inertial measurement unit (IMU) sensor to recognize the desired movement pattern measuring the user’s head inclination. The proposed methodology computes a repulsive vector field and works to increase maneuverability and safety. Thus, global localization and mapping are unnecessary. The results were evaluated by simulated models and practical tests using a Pioneer-P3DX differential robot to show the system’s applicability.

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Section: Vector Fieldsmentioning

confidence: 99%

Shared control methodology based on head positioning and vector fields for people with quadriplegia

et al. 2021

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“…In [ 14 ], the authors developed a cell decomposition algorithm for robots with contact sensors for covering unknown environments in an online manner. The work of [ 15 ] proposed a hybrid methodology for mobile robots on an autonomous mission involving an offline approach that uses the Direct-DRRT* algorithm and the Artificial Potential Fields (APF) algorithm for the online planner. In [ 16 ], the authors used a bat algorithm for solving the mobile robots’ global localization problem.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

Biundini

Pinto

Melo

et al. 2021

Sensors

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Different practical applications have emerged in the last few years, requiring periodic and detailed inspections to verify possible structural changes. Inspections using Unmanned Aerial Vehicles (UAVs) should minimize flight time due to battery time restrictions and identify the terrain’s topographic features. In this sense, Coverage Path Planning (CPP) aims at finding the best path to coverage of a determined area respecting the operation’s restrictions. Photometric information from the terrain is used to create routes or even refine paths already created. Therefore, this research’s main contribution is developing a methodology that uses a metaheuristic algorithm based on point cloud data to inspect slope and dams structures. The technique was applied in a simulated and real scenario to verify its effectiveness. The results showed an increasing 3D reconstructions’ quality observing optimizing photometric and mission time criteria.

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“…However, the algorithm could not be handled in dynamic scenarios. In the last few years, intelligent methods have been proposed for robot planning strategy in dynamic scenarios [ 19 ]. In unknown dynamic environments, the robotic system must obtain distance information of its current position state and obstacles and then generate a trajectory in an online way.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization and Heuristics Based Online Coverage Path Planning in 3D Environment for UAVs

Melo

Pinto

Marcato

et al. 2021

Sensors

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Path planning is one of the most important issues in the robotics field, being applied in many domains ranging from aerospace technology and military tasks to manufacturing and agriculture. Path planning is a branch of autonomous navigation. In autonomous navigation, dynamic decisions about the path have to be taken while the robot moves towards its goal. Among the navigation area, an important class of problems is Coverage Path Planning (CPP). The CPP technique is associated with determining a collision-free path that passes through all viewpoints in a specific area. This paper presents a method to perform CPP in 3D environment for Unmanned Aerial Vehicles (UAVs) applications, namely 3D dynamic for CPP applications (3DD-CPP). The proposed method can be deployed in an unknown environment through a combination of linear optimization and heuristics. A model to estimate cost matrices accounting for UAV power usage is proposed and evaluated for a few different flight speeds. As linear optimization methods can be computationally demanding to be used on-board a UAV, this work also proposes a distributed execution of the algorithm through fog-edge computing. Results showed that 3DD-CPP had a good performance in both local execution and fog-edge for different simulated scenarios. The proposed heuristic is capable of re-optimization, enabling execution in environments with local knowledge of the environments.

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Hybrid Methodology for Path Planning and Computational Vision Applied to Autonomous Mission: A New Approach

Cited by 12 publications

References 29 publications

Shared control methodology based on head positioning and vector fields for people with quadriplegia

Shared control methodology based on head positioning and vector fields for people with quadriplegia

A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

Dynamic Optimization and Heuristics Based Online Coverage Path Planning in 3D Environment for UAVs

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