Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data

Positioning of a robot in its autonomous movement is applied to the automatic control and trajectory planning. There are two types of systems: sensed data come from physical parameters sensors and video cameras. In this paper, we consider the integration of both data sources, providing a novel way f...

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Autores principales:	Grigorij Rego, Nikita Bazhenov, Dmitry Korzun
Formato:	article
Lenguaje:	EN
Publicado:	FRUCT 2021
Materias:	autonomous movement robotics physical parameter sensor video data data fusion mobile robot positioning Telecommunication TK5101-6720
Acceso en línea:	https://doaj.org/article/da721393168e4f4bbd3f46d40a61e8ff
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id	oai:doaj.org-article:da721393168e4f4bbd3f46d40a61e8ff
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spelling	oai:doaj.org-article:da721393168e4f4bbd3f46d40a61e8ff2021-11-20T15:59:33ZTrajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data2305-72542343-073710.23919/FRUCT53335.2021.9599958https://doaj.org/article/da721393168e4f4bbd3f46d40a61e8ff2021-10-01T00:00:00Zhttps://www.fruct.org/publications/fruct30/files/Reg.pdfhttps://doaj.org/toc/2305-7254https://doaj.org/toc/2343-0737Positioning of a robot in its autonomous movement is applied to the automatic control and trajectory planning. There are two types of systems: sensed data come from physical parameters sensors and video cameras. In this paper, we consider the integration of both data sources, providing a novel way for trajectory construction. The sensed data are collected from the IMU-sensor, camera, and Lidar. We present an architecture for collecting data from many sources and for using the data to evaluate the position of a mobile robot. The results of our early experiments confirm the feasibility of the data integration when a robot moves between special points with different sequences of actions. We also present an algorithm for the movement of a mobile robot between given points without loss of positioning accuracy at long distances. The accuracy is not only affected the Euclidean coordinates, but the orientation angle is also improved. As a result, a robot can be used in narrow indoor, where a special point can be reached only at a certain orientation angle.Grigorij RegoNikita BazhenovDmitry KorzunFRUCTarticleautonomous movementroboticsphysical parameter sensorvideo datadata fusionmobile robot positioningTelecommunicationTK5101-6720ENProceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 1, Pp 200-206 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous movement robotics physical parameter sensor video data data fusion mobile robot positioning Telecommunication TK5101-6720
spellingShingle	autonomous movement robotics physical parameter sensor video data data fusion mobile robot positioning Telecommunication TK5101-6720 Grigorij Rego Nikita Bazhenov Dmitry Korzun Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
description	Positioning of a robot in its autonomous movement is applied to the automatic control and trajectory planning. There are two types of systems: sensed data come from physical parameters sensors and video cameras. In this paper, we consider the integration of both data sources, providing a novel way for trajectory construction. The sensed data are collected from the IMU-sensor, camera, and Lidar. We present an architecture for collecting data from many sources and for using the data to evaluate the position of a mobile robot. The results of our early experiments confirm the feasibility of the data integration when a robot moves between special points with different sequences of actions. We also present an algorithm for the movement of a mobile robot between given points without loss of positioning accuracy at long distances. The accuracy is not only affected the Euclidean coordinates, but the orientation angle is also improved. As a result, a robot can be used in narrow indoor, where a special point can be reached only at a certain orientation angle.
format	article
author	Grigorij Rego Nikita Bazhenov Dmitry Korzun
author_facet	Grigorij Rego Nikita Bazhenov Dmitry Korzun
author_sort	Grigorij Rego
title	Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
title_short	Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
title_full	Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
title_fullStr	Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
title_full_unstemmed	Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data
title_sort	trajectory construction for autonomous robot movement based on sensed physical parameters and video data
publisher	FRUCT
publishDate	2021
url	https://doaj.org/article/da721393168e4f4bbd3f46d40a61e8ff
work_keys_str_mv	AT grigorijrego trajectoryconstructionforautonomousrobotmovementbasedonsensedphysicalparametersandvideodata AT nikitabazhenov trajectoryconstructionforautonomousrobotmovementbasedonsensedphysicalparametersandvideodata AT dmitrykorzun trajectoryconstructionforautonomousrobotmovementbasedonsensedphysicalparametersandvideodata
_version_	1718419454040211456

Trajectory Construction for Autonomous Robot Movement based on Sensed Physical Parameters and Video Data

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