Pipeline for Exploration and Patrolling Routes with Waypoints and Triangulation for Autonomous Mobile Robots
Authors
Morratz, Daniel ; Carstensen, Jacob ; Mathiesen, Magnus
Term
4. term
Education
Publication year
2024
Submitted on
2024-06-14
Pages
10
Abstract
Autonomous robots are becoming more common, but creating complete systems still requires research. Two key abilities are exploration (mapping an unknown environment) and patrolling (repeatedly visiting known areas). These are often studied separately. This thesis presents a single, end-to-end pipeline that connects exploration to patrolling. Borrowing from the art gallery problem (how to position guards so all areas are covered), we apply Delaunay triangulation to the explored map to generate waypoints. The waypoints are arranged into closed loops that robots can follow as patrol routes. For teams of robots, the set of loops can be divided to distribute work among multiple agents. We evaluate the pipeline in experiments that test both exploration and patrolling, measuring exploration time and patrol idleness (how long locations go unvisited), and comparing configurations with multiple closed paths.
Selvkørende robotter bliver stadig mere udbredte, men der er fortsat brug for forskning for at bygge komplette systemer. To centrale evner er udforskning (at kortlægge et ukendt miljø) og patruljering (gentagne besøg i kendte områder). Disse undersøges ofte hver for sig. Denne afhandling præsenterer en samlet arbejdsgang, der forbinder udforskning med patruljering. Med inspiration fra kunstgalleriproblemet (hvordan man placerer vagter, så alle områder er dækket) anvender vi Delaunay-triangulering på det udforskede kort for at generere vejpunkter. Vejpunkterne organiseres i lukkede ruter, som robotter kan følge som patruljeløkker. For hold af flere robotter kan ruterne deles op for at fordele arbejdet. Vi evaluerer arbejdsgangen gennem eksperimenter, der tester både udforskning og patruljering, måler udforskningstid og ubetjent tid (hvor længe steder står ubesøgte) og sammenligner opsætninger med flere lukkede ruter.
[This apstract has been rewritten with the help of AI based on the project's original abstract]
Keywords