Adaptive Robot Navigation Protocol for Estimating Variable Terrain Elevation Data

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Title: Adaptive Robot Navigation Protocol for Estimating Variable Terrain Elevation Data
Author: Parker, Lonnie T. ; Howard, Ayanna M.
Abstract: Efficiently measuring environmental phenomena (e.g., elevation, chemical composition, and mineral density) is a task typically reserved for the geoscience community. Recent robotic systems with the potential for addressing the task of sampling currently exist, yet their navigation strategies (and subsequently sampling strategies) are seldom a function of the spatial change in the measured phenomena of interest. Solutions are especially void for intelligent systems to which resource constraints are applied (i.e., battery power and experimentation time) while complete coverage of an area is expected. In this paper, we discuss the implementation of a custom navigation strategy based on immediately-sensed data that, when combined with spatial interpolation techniques, yields a re-creation of the surveyed space with root mean squared error that meets accepted mapping standards. Our methodology employs an adaptive coverage algorithm which succeeds in lowering the RMS error when compared to other navigation techniques. Our results are validated in simulation by considering: 1) randomly-generated terrains and 2) realistic digital elevation map (DEM) data transposed from publically available terrain contour maps.
Description: ©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 9-12 Oct. 2011. DOI : 10.1109/ICSMC.2011.6084218
Type: Proceedings
ISSN: 1062-922X
ISBN: 978-1-4577-0652-3
Citation: L. T. Parker, A. M. Howard, "Adaptive Robot Navigation Protocol for Estimating Variable Terrain Elevation Data", IEEE Int. Conference on Systems, Man, and Cybernetics, Anchorage, AK, Oct. 9-12, 2011.
Date: 2011-10
Contributor: Georgia Institute of Technology. Human-Automation Systems Lab
Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Earth observing system
Area under test
Robotic survey system

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