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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F11%3A00171597%21RIV12-MSM-21230___
rdf:type
n6:Vysledek skos:Concept
rdfs:seeAlso
http://www.springerlink.com/content/aj8121566g735786/
dcterms:description
In this paper, we address the inspection planning problem to %22see%22 the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspecti In this paper, we address the inspection planning problem to %22see%22 the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspecti
dcterms:title
A Sensor Placement Algorithm for a Mobile Robot Inspection Planning A Sensor Placement Algorithm for a Mobile Robot Inspection Planning
skos:prefLabel
A Sensor Placement Algorithm for a Mobile Robot Inspection Planning A Sensor Placement Algorithm for a Mobile Robot Inspection Planning
skos:notation
RIV/68407700:21230/11:00171597!RIV12-MSM-21230___
n6:predkladatel
n19:orjk%3A21230
n3:aktivita
n16:P
n3:aktivity
P(2C06005)
n3:cisloPeriodika
3-4
n3:dodaniDat
n13:2012
n3:domaciTvurceVysledku
n8:3276155 n8:1402463 n8:7341520
n3:druhVysledku
n14:J
n3:duvernostUdaju
n21:S
n3:entitaPredkladatele
n7:predkladatel
n3:idSjednocenehoVysledku
184135
n3:idVysledku
RIV/68407700:21230/11:00171597
n3:jazykVysledku
n12:eng
n3:klicovaSlova
Sensor placement; Mobile robotics; Inspection path planning; Art gallery problem
n3:klicoveSlovo
n9:Inspection%20path%20planning n9:Art%20gallery%20problem n9:Sensor%20placement n9:Mobile%20robotics
n3:kodStatuVydavatele
NL - Nizozemsko
n3:kontrolniKodProRIV
[63D195FBE514]
n3:nazevZdroje
Journal of Intelligent and Robotic Systems
n3:obor
n20:JC
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
3
n3:projekt
n15:2C06005
n3:rokUplatneniVysledku
n13:2011
n3:svazekPeriodika
62
n3:tvurceVysledku
Kulich, Miroslav Přeučil, Libor Faigl, Jan
n3:wos
000290277600002
s:issn
0921-0296
s:numberOfPages
25
n17:doi
10.1007/s10846-010-9449-0
n11:organizacniJednotka
21230