A master thesis from Aalborg University
Pipeline for Exploration and Patrolling Routes with Waypoints and Triangulation for Autonomous Mobile Robots
Author(s)
Term
4. term
Education
Publication year
2024
Submitted on
2024-06-14
Pages
10 pages
Abstract
Autonomous robots' availability is steadily increasing, although much research is needed to build autonomous robot systems. Patrolling and exploration facilitation are important for building such systems, however, these areas are often researched separately. This paper examines how a system for autonomous robots can provide a bridge from exploration to patrolling in a pipeline capable of achieving both. By taking inspiration from the art gallery problem, Delaunay triangulation is applied to an explored area to generate waypoints that act as closed path loops for robots to patrol. These closed-paths can be partitioned into groups to distribute patrolling routes among multiple robots. The pipeline is evaluated through a set of experiments, testing exploration and patrolling capabilities to measure exploration time, and idleness in comparison to multiple closed-paths.
Autonomous robots' availability is steadily increasing, although much research is needed to build autonomous robot systems. Patrolling and exploration facilitation are important for building such systems, however, these areas are often researched separately. This paper examines how a system for autonomous robots can provide a bridge from exploration to patrolling in a pipeline capable of achieving both. By taking inspiration from the art gallery problem, Delaunay triangulation is applied to an explored area to generate waypoints that act as closed path loops for robots to patrol. These closed-paths can be partitioned into groups to distribute patrolling routes among multiple robots. The pipeline is evaluated through a set of experiments, testing exploration and patrolling capabilities to measure exploration time, and idleness in comparison to multiple closed-paths.
Keywords
Documents
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