Object recognition based on distributed scanning of a mobile robotic group using 3D optical technical vision system [recurso electrónico] / Mykhailo Ivanov ; director, Oleg Sergiyenko
Tipo de material:
TextoDetalles de publicación: Mexicali, Baja California, 2020Descripción: Recurso en línea, 262 p. : il. colTema(s): Robótica -- Tesis y disertaciones académicas | Control automático -- Tesis y disertaciones académicasClasificación LoC:TJ211 | I83 2020Recursos en línea: Tesis Digital.
Nota de disertación: Tesis (Doctorado) -- Universidad Autónoma de Baja California. Instituto de Ingeniería, Mexicali, 2020 Resumen: Robotic group collaboration in a densely cluttered terrain is one of the main problems in mobile
robotics control. This thesis describes the basic set of tasks solved to model a robotic group be-
havior during the distributed search of an object (goal) with the parallel mapping. The navigation
scheme uses the benefits of the authors’ original technical vision system (TVS) based on dynamic
triangulation principles. According to the TVS output data, fuzzy logic rules of resolution stabi-
lization were implemented; this with the aim to improve the data exchange. Modified dynamic
communication network model and implemented the propagation of information with a feedback
method to improve the data exchange inside the robotic group. For forming the continuous and
energy-saving trajectory authors are proposing to use the two-steps post-processing method of
path planning with polygon approximation. The combination of our collective TVS scans fusion
and modified dynamic data exchange network forming method with adjustment of the known path
planning methods can improve the robotic motion planning and navigation in unknown cluttered
terrain.
| Tipo de ítem | Biblioteca actual | Colección | Signatura | Copia número | Estado | Fecha de vencimiento | Código de barras |
|---|---|---|---|---|---|---|---|
| Tesis | Biblioteca Central Mexicali | Colección de Tesis | TJ211 I83 2020 (Browse shelf(Abre debajo)) | 1 | Disponible | MXL122518 |
Navegando Biblioteca Central Mexicali Estantes, Código de colección: Colección de Tesis Cerrar el navegador de estanterías (Oculta el navegador de estanterías)
Doctorado en ciencias
Tesis (Doctorado) -- Universidad Autónoma de Baja California. Instituto de Ingeniería, Mexicali, 2020
Robotic group collaboration in a densely cluttered terrain is one of the main problems in mobile
robotics control. This thesis describes the basic set of tasks solved to model a robotic group be-
havior during the distributed search of an object (goal) with the parallel mapping. The navigation
scheme uses the benefits of the authors’ original technical vision system (TVS) based on dynamic
triangulation principles. According to the TVS output data, fuzzy logic rules of resolution stabi-
lization were implemented; this with the aim to improve the data exchange. Modified dynamic
communication network model and implemented the propagation of information with a feedback
method to improve the data exchange inside the robotic group. For forming the continuous and
energy-saving trajectory authors are proposing to use the two-steps post-processing method of
path planning with polygon approximation. The combination of our collective TVS scans fusion
and modified dynamic data exchange network forming method with adjustment of the known path
planning methods can improve the robotic motion planning and navigation in unknown cluttered
terrain.
