CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping

Baikovitz, Alexander; Sodhi, Paloma; Dille, Michael; Kaess, Michael

doi:10.48550/arxiv.2107.07606

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“…The robot uses radar, visual sensors [27], [28] and other sensing devices to locate its own location h l  , and uses the state Q of all charging piles, the frequency set K of passing through each charging pile in each period, and the coordinates of all charging piles S to find a suitable charging pile.…”

Section: Let the Distance That The Th H Robot Can Travel With The Rem...mentioning

confidence: 99%

Robot Memorial Path Planning for Smart Access of Indoor Distributed Charging Piles

Deng

Xie

et al. 2023

IEEE Access

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Autonomous mobile service robots are used to complete many tasks, such as cleaning, transporting goods and monitoring. Such tasks usually require uninterrupted and continuous service. However, the battery of the robot is limited and must be charged frequently. For a large number of robots, it is essential to select a suitable charging pile. For this issue, we propose a path planning model for robots to intelligently access a limited number of charging piles distributed on the map. The traditional path planning model mainly considers the shortest path criterion to generate the path. Different from this, the path planning model in this paper not only considers the shortest path, but also the service position of the robot after charging, the remaining power of the robot, the state of the charging pile and the position of the robot in the map. Our path planning assigns the most suitable charging pile to the robot that needs charging. To solve the problem of high memory consumption and slow search speed when traditional A* algorithm is used for path planning, we propose local memorial path planning (LMPP) algorithm to quickly generate effective paths. The simulation results show that the proposed robot charging path planner can improve the robot service satisfaction and plan the effective path to the available charging piles.INDEX TERMS Autonomous mobile robot, service robot, path planning, robot charging

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Section: Let the Distance That The Th H Robot Can Travel With The Rem...mentioning

confidence: 99%

Robot Memorial Path Planning for Smart Access of Indoor Distributed Charging Piles

Deng

Xie

et al. 2023

IEEE Access

View full text Add to dashboard Cite

show abstract

CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping

Cited by 1 publication

References 0 publications

Robot Memorial Path Planning for Smart Access of Indoor Distributed Charging Piles

Robot Memorial Path Planning for Smart Access of Indoor Distributed Charging Piles

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