平面上を掃引するラインセンサの被覆度と探索面積の推定
Estimating the Coverage Measure and the Area Explored by a Line-Sweep Sensor on the Plane
ラインスイープセンサが2次元平面で探索した面積を、被覆度と位相次数の関係を用いて推定し、区間解析で不確実性も扱う手法を提案した。
著者: Maria Costa Vianna, Eric Goubault, Luc Jaulin, Sylvie Putot
分類: cs.RO, cs.SY, eess.SY, math.GT
原文アブストラクト
This paper presents a method for determining the area explored by a line-sweep sensor during an area-covering mission in a two-dimensional plane. Accurate knowledge of the explored area is crucial for various applications in robotics, such as mapping, surveillance, and coverage optimization. The proposed method leverages the concept of coverage measure of the environment and its relation to the topological degree in the plane, to estimate the extent of the explored region. In addition, we extend the approach to uncertain coverage measure values using interval analysis. This last contribution allows for a guaranteed characterization of the explored area, essential considering the often critical character of area-covering missions. Finally, this paper also proposes a novel algorithm for computing the topological degree in the 2-dimensional plane, for all the points inside an area of interest, which differs from existing solutions that compute the topological degree for single points. The applicability of the method is evaluated through a real-world experiment.
