Robotics is a highly developed field in industry, and there is a large research effort in terms of humanoid robotics, including the development of multi-functional empathetic robots as human companions. An important function of a robot is to find an optimal coverage path planning, with obstacle avoidance in dynamic environments for cleaning and monitoring robotics. This paper proposes a novel approach to enable robotic path planning. The proposed approach combines robot reasoning with knowledge reasoning techniques, hedge algebra, and the Spiral Spanning Tree Coverage (STC) algorithm, for a cleaning and monitoring robot with optimal decisions. This approach is used to apply knowledge inference and hedge algebra with the Spiral STC algorithm to enable autonomous robot control in the optimal coverage path planning, with minimum obstacle avoidance. The results of experiments show that the proposed approach in the optimal robot path planning avoids tangible and intangible obstacles for the monitoring and cleaning robot. Experimental results are compared with current methods under the same conditions. The proposed model using knowledge reasoning techniques in the optimal coverage path performs better than the conventional algorithms in terms of high robot coverage and low repetition rates. Experiments are done with real robots for cleaning in dynamic environments.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Hybrid spiral stc-hedge algebras model in knowledge reasonings for robot coverage path planning and its applications



    Erscheinungsdatum :

    2019-01-01


    Anmerkungen:

    9


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Hybrid Spiral STC-Hedge Algebras Model in Knowledge Reasonings for Robot Coverage Path Planning and Its Applications

    KANDİLLİ, İSMET / Asadi, Farzin / ABUT, NURETTİN et al. | BASE | 2019

    Freier Zugriff

    Spiral coverage path planning for Multi-UAV photovoltaic panel inspection applications

    Luna, Marco Andres / Isaac, Mohammad Sadeq Ale / Fernandez-Cortizas, Miguel et al. | IEEE | 2023