Contingency Planning of Visual Contamination for Wheeled Mobile Robots with Chameleon-Inspired Visual System
-
Published:2023-05-24
Issue:11
Volume:12
Page:2365
-
ISSN:2079-9292
-
Container-title:Electronics
-
language:en
-
Short-container-title:Electronics
Author:
Xu Yan1, Yu Hongpeng2, Wu Liyan1, Song Yuqiu1, Liu Cuihong1
Affiliation:
1. College of Engineering, Shenyang Agricultural University, Shenyang 110866, China 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Abstract
To enable mobile robots to effectively deal with the emergency of visual contamination, contingency planning based on case-based reasoning (CBR) was performed in this paper. First, for a wheeled mobile robot (WMR) equipped with a chameleon-inspired visual system, a target search model in chameleon-inspired binocular negative correlation movement (CIBNCM) mode was established. Second, a CBR-based contingency planning model of visual contamination for WMRs was established, where the reasoning process using CBR for visual contamination was analyzed in detail. Third, through the analysis of environment perception when visual contamination occurs, a perception model in chameleon-inspired visual contamination for WMRs was built. Finally, to validate the proposed approach, a contingency planning experiment scheme for visual contamination was designed based on the robot’s general planning of target tracking, and the experimental result is discussed. The proposed CBR-based contingency planning approach for visual contamination can reason out effective solutions corresponding to the contamination situations. The rationality of the approach was verified by experiments with satisfactory results. Moreover, compared with the contingency planning method based on rule-based reasoning, the accuracy of target retracking after the robot visual system is contaminated is significantly higher for the CBR-based contingent planning method used in this paper.
Funder
National Natural Science Foundation of China Scientific Research Foundation of Education Department of Liaoning Province Doctoral Research Initiation Foundation of Shenyang Agricultural University
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Reference57 articles.
1. Corke, P. (2017). Robotics, Vision and Control, Springer International Publishing. Springer Tracts in Advanced Robotics. 2. RHex: A Simple and Highly Mobile Hexapod Robot;Saranli;Int. J. Robot. Res.,2001 3. Wright, C., Johnson, A., Peck, A., McCord, Z., Naaktgeboren, A., Gianfortoni, P., Gonzalez-Rivero, M., Hatton, R., and Choset, H. (2007–2, January 29). Design of a Modular Snake Robot. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA. 4. Wright, C., Buchan, A., Brown, B., Geist, J., Schwerin, M., Rollinson, D., Tesch, M., and Choset, H. (2012, January 14–18). Design and Architecture of the Unified Modular Snake Robot. Proceedings of the 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA. 5. Souto, D., Faina, A., Lopez-Pena, F., and Duro, R.J. (2013, January 6–10). Lappa: A New Type of Robot for Underwater Non-Magnetic and Complex Hull Cleaning. Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.
|
|