scholarly journals Combining Satellite Images and Cadastral Information for Outdoor Autonomous Mapping and Navigation: A Proof-of-Concept Study in Citric Groves

Algorithms ◽  
2019 ◽  
Vol 12 (9) ◽  
pp. 193
Author(s):  
Joaquín Torres-Sospedra ◽  
Patricio Nebot
Keyword(s):  
Path Planning ◽  
Satellite Images ◽  
Indoor Environments ◽  
Proof Of Concept ◽  
Fast Marching ◽  
Satellite Positioning ◽  
Orange Grove ◽  
Map Service ◽  
Robotic Applications ◽  
Readable Format

The development of robotic applications for agricultural environments has several problems which are not present in the robotic systems used for indoor environments. Some of these problems can be solved with an efficient navigation system. In this paper, a new system is introduced to improve the navigation tasks for those robots which operate in agricultural environments. Concretely, the paper focuses on the problem related to the autonomous mapping of agricultural parcels (i.e., an orange grove). The map created by the system will be used to help the robots navigate into the parcel to perform maintenance tasks such as weed removal, harvest, or pest inspection. The proposed system connects to a satellite positioning service to obtain the real coordinates where the robotic system is placed. With these coordinates, the parcel information is downloaded from an online map service in order to autonomously obtain a map of the parcel in a readable format for the robot. Finally, path planning is performed by means of Fast Marching techniques using the robot or a team of two robots. This paper introduces the proof-of-concept and describes all the necessary steps and algorithms to obtain the path planning just from the initial coordinates of the robot.

scholarly journals A Comparison of Local Path Planning Techniques of Autonomous Surface Vehicles for Monitoring Applications: The Ypacarai Lake Case-study

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1488
Author(s):  
Federico Peralta ◽  
Mario Arzamendia ◽  
Derlis Gregor ◽  
Daniel G. Reina ◽  
Sergio Toral
Keyword(s):  
Path Planning ◽  
Random Trees ◽  
Fast Marching Method ◽  
Fast Marching ◽  
Planning Techniques ◽  
Advantages And Disadvantages ◽  
Autonomous Surface Vehicle ◽  
Local Path Planning ◽  
Custom Made ◽  
Local Path

Local path planning is important in the development of autonomous vehicles since it allows a vehicle to adapt their movements to dynamic environments, for instance, when obstacles are detected. This work presents an evaluation of the performance of different local path planning techniques for an Autonomous Surface Vehicle, using a custom-made simulator based on the open-source Robotarium framework. The conducted simulations allow to verify, compare and visualize the solutions of the different techniques. The selected techniques for evaluation include A*, Potential Fields (PF), Rapidly-Exploring Random Trees* (RRT*) and variations of the Fast Marching Method (FMM), along with a proposed new method called Updating the Fast Marching Square method (uFMS). The evaluation proposed in this work includes ways to summarize time and safety measures for local path planning techniques. The results in a Lake environment present the advantages and disadvantages of using each technique. The proposed uFMS and A* have been shown to achieve interesting performance in terms of processing time, distance travelled and security levels. Furthermore, the proposed uFMS algorithm is capable of generating smoother routes.

scholarly journals Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 642
Author(s):  
Luis Miguel González de Santos ◽  
Ernesto Frías Nores ◽  
Joaquín Martínez Sánchez ◽  
Higinio González Jorge
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Execution Time ◽  
Point Cloud ◽  
Indoor Environments ◽  
Calculation Algorithm ◽  
Time Restrictions ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Path Planning Algorithm

Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

scholarly journals Correction of Very High-Resolution Satellite Images using Control Points Captured by Web Map Service (WMS) server: Google Earth

2020 ◽  
Vol 9 (8) ◽  
pp. 188-194
Keyword(s):  
Large Scale ◽  
Satellite Images ◽  
Google Earth ◽  
Ground Control ◽  
Control Points ◽  
Web Map ◽  
Ground Control Points ◽  
High Resolution Satellite Images ◽  
Map Scale ◽  
Map Service

The recent progress for spatial resolution of remote sensing imagery led to generate many types of Very HighResolution (VHR) satellite images, consequently, general speaking, it is possible to prepare accurate base map larger than 1:10,000 scale. One of these VHR satellite image is WorldView-3 sensor that launched in August 2014. The resolution of 0.31m makes WorldView-3 the highest resolution commercial satellite in the world. In the current research, a pan-sharpen image from that type, covering an area at Giza Governorate in Egypt, used to determine the suitable large-scale map that could be produced from that image. To reach this objective, two different sources for acquiring Ground Control Points (GCPs). Firstly, very accurate field measurements using GPS and secondly, Web Map Service (WMS) server (in the current research is Google Earth) which is considered a good alternative when GCPs are not available, are used. Accordingly, three scenarios are tested, using the same set of both 16 Ground Control Points (GCPs) as well as 14 Check Points (CHKs), used for evaluation the accuracy of geometric correction of that type of images. First approach using both GCPs and CHKs coordinates acquired by GPS. Second approach using GCPs coordinates acquired by Google Earth and CHKs acquired by GPS. Third approach using GCPs and CHKs coordinates by Google Earth. Results showed that, first approach gives Root Mean Square Error (RMSE) planimeteric discrepancy for GCPs of 0.45m and RMSE planimeteric discrepancy for CHKs of 0.69m. Second approach gives RMSE for GCPs of 1.10m and RMSE for CHKs of 1.75m. Third approach gives RMSE for GCPs of 1.10m and RMSE for CHKs of 1.40m. Taking map accuracy specification of 0.5mm of map scale, the worst values for CHKs points (1.75m&1,4m) resulted from using Google Earth as a source, gives the possibility of producing 1:5000 large-scale map compared with the best value of (0.69m) (map scale 1:2500). This means, for the given parameters of the current research, large scale maps could be produced using Google Earth, in case of GCPs are not available accurately from the field surveying, which is very useful for many users.

The Application of Swarm Intelligence to Collective Robots

2006 ◽  
pp. 157-185 ◽  
Author(s):  
Amanda J.C. Sharkey ◽  
Noel Sharkey
Keyword(s):  
Swarm Intelligence ◽  
Proof Of Concept ◽  
Practical Application ◽  
Predator Prey ◽  
Expected Benefits ◽  
Intelligent Approach ◽  
Intelligence Approach ◽  
Robotic Applications ◽  
Study Application

This chapter considers the application of swarm intelligence principles to collective robotics. Our aim is to identify the reasons for the growing interest in the intersection of these two areas, and to evaluate the progress that has been made to date. In the course of this chapter, we will discuss the implications of taking a swarm intelligent approach, and review recent research and applications. The area of “swarm robotics” offers considerable promise for practical application, although it is still in its infancy, and many of the tasks that have been achieved are better described as “proof-of-concept” examples, rather than full-blown applications. In the first part of the chapter, we will examine what taking a swarm intelligence approach to robotics implies, and outline its expected benefits. We shall then proceed to review recent swarm robotic applications, before concluding with a case study application of predator-prey robotics that illustrates some of the potential of the approach.

scholarly journals Application of the Fast Marching Method for Path Planning of Long-haul Optical Fiber Cables With Shielding

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 41367-41378 ◽  
Author(s):  
Zengfu Wang ◽  
Qing Wang ◽  
Bill Moran ◽  
Moshe Zukerman
Keyword(s):  
Path Planning ◽  
Optical Fiber ◽  
Fast Marching Method ◽  
Fast Marching ◽  
Marching Method

scholarly journals Prototype Survey of Path Planning and Obstacle Avoidance in UAV Systems

2018 ◽  
Vol 7 (3.34) ◽  
pp. 316 ◽  
Author(s):  
S SARATH CHANDRA ◽  
Dr A. S. C. S. SASTRY
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Point Interaction ◽  
Paper Analysis ◽  
Indoor Environments ◽  
Aerial Vehicles ◽  
Planning Technique ◽  
Result Analysis ◽  
Path Detection

In recent years, have seen rapidly growing interest with implementation and development of different type of networks of multiple unnamed aerial vehicles (UAV), as aerial sensor networks for inter co-operative monitoring, surveillance monitoring and rapid emergency response for communication. This is an emerging concept in real time communicative networks. Path detection, planning and obstacle avoidance is the aggressive representation for unnamed aerial vehicles in indoor environments. There are many techniques/approaches are introduced to evaluate above features for real time communicative environments. So in this paper, we discuss about those techniques implementation procedure and brief description regarding obstacle avoidance, multi-point interaction to track the location in wireless network communications. This paper analysis most successful path detection, planning and other reference based methods with successive description in real time scenario. Furthermore, a comprehensive with comparable result analysis of each path planning technique by considering their implementation in time complexity  and other parameters in real time communicative networks.  

scholarly journals Global path planning for autonomous ship: A hybrid approach of Fast Marching Square and velocity obstacles methods

2020 ◽  
Vol 214 ◽  
pp. 107793
Author(s):  
Pengfei Chen ◽  
Yamin Huang ◽  
Eleonora Papadimitriou ◽  
Junmin Mou ◽  
Pieter van Gelder
Keyword(s):  
Path Planning ◽  
Hybrid Approach ◽  
Fast Marching ◽  
Global Path Planning ◽  
Autonomous Ship
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