Influence of data clouds fusion from 3D real-time vision system on robotic group dead reckoning in unknown terrain
Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores‐Fuentes, Julio C. Rodríguez‐Quiñonez, Wilmar Hernández, Paolo Mercorelli
Abstract
This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain. The navigation scheme uses the benefits of the original real-time technical vision system (TVS) based on a dynamic triangulation principle. The method uses TVS output data with fuzzy logic rules processing for resolution stabilization. Based on previous researches, the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group. According to the comparative analysis of approximation methods, in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory. The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.