Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain

Mykhailo Ivanov; Oleg Sergyienko; Vera Tyrsa; Lars Lindner; Wendy Flores-Fuentes; Julio Cesar Rodríguez-Quiñonez; Wilmar Hernandez; Paolo Mercorelli

doi:10.1109/JAS.2020.1003027

Volume 7 Issue 2

Mar. 2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2020 > 7(2): 368-385

Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Wilmar Hernandez and Paolo Mercorelli, "Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 368-385, Mar. 2020. doi: 10.1109/JAS.2020.1003027

Citation:

Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Wilmar Hernandez and Paolo Mercorelli, "Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 368-385, Mar. 2020. doi: 10.1109/JAS.2020.1003027

Citation:

Mykhailo Ivanov, Oleg Sergyienko, Vera Tyrsa, Lars Lindner, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Wilmar Hernandez and Paolo Mercorelli, "Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 368-385, Mar. 2020. doi: 10.1109/JAS.2020.1003027

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Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain

doi: 10.1109/JAS.2020.1003027

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Author Bio:
Mykhailo Ivanov received the B.S. and M.S. degrees at Kharkiv National Aerospace University “KhAI”, Ukraine, in 2010 and 2012, respectively. In 2012 he joined the Kharkiv National Aerospace University where he held positions of Assistant and Vice Dean in questions of students recruitment. Since 2016 he is working to get a Ph.D. degree in Universidad Autónoma de Baja California, Mexico, and from 2019 he holds the position of Professor in the Faculty of Administrative Sciences. Till the present time, he has written 8 publications in international congresses of IEEE in the USA, England, Italy, etc., 3 papers and 3 book chapters. He has been a Reviewer for International Journal of Advanced Robotic Systems, IEEE ISIE 2017 (UK), 2019 (Canada), IECON 2018 (USA) and IECON 2019 (Portugal). His current research interests include robot navigation and communication, robotic group behavior models, vision systems, and 3D laser scanners

Oleg Sergiyenko received the B.S. and M.S. degrees at Kharkiv National University of Automobiles and Highways, Ukraine, in 1991 and 1993, respectively. He received the Ph.D. degree at Kharkiv National Polytechnic University on specialty “tools and methods of non-destructive control” in 1997. He received the DSc. (habit.) degree at Kharkiv National University of Radioelectronics in 2018. He has been an author of 1 book and editor of 7 books (in Springer, IGI Global, etc.), written 27 book chapters, over 120 papers indexed in Scopus and holds 2 patents (of Ukraine and Mexico). Since 1994 till the present time he was represented by his research works in several international congresses of IEEE, ICROS, SICE, IMEKO in USA, England, Japan, Italy, Austria, Ukraine, Canada, Portugal, Brazil and Mexico. In many of them, he was a Session Chair. He gets the “Best presentation award” on IEEE Conferences IECON2014 in Dallas, USA, on IECON2016 in Florence, Italy, ISIE2019 in Vancouver, Canada. He also did receive the Emarald Literati Award of 2017 Outstanding paper for his article published in Industrial Robot: an International Journal. Dr. Sergiyenko in December 2004 was invited by Engineering Institute of Baja California Autonomous University for researcher position. He is currently Head of Applied Physics Department of Engineering Institute of Universidad Autónoma de Baja California, Mexico, and a director of several Master’s and Doctorate thesis. He is a Full-Member (Academician) of Academy of Applied Radioelectronics of Belorussia, Ukraine and Russia. His current research interests include automated metrology, stereo vision systems, control systems, robot navigation, communication, and 3D laser scanners

Vera Tyrsa received the B.S. and M.S. degrees at Kharkov National University of Automobiles and Highways, Ukraine, in 1991 and 1993, respectively (Honoris Causa). She received the Ph.D. degree at Kharkov National Polytechnic University on specialty “electric machines, systems and networks, elements and devices of computer technics” in 1996. She has written 1 book, 7 book chapters, and more than 50 papers. She holds one patent of Ukraine and one patent of Mexico. From 1994 till the present time, she is represented by her research works in international congresses in USA, England, Italy, Japan, Ukraine, and Mexico. In April 1996, she joined the Kharkov National University of Automobiles and Highways, where she holds the position of Associated Professor of Electrical Engineering Department (1998–2006). In 2006–2011, she was invited by Polytechnic University of Baja California, Mexico for professor and researcher position. Currently, she is a Professor of electronic topics with the Engineering Faculty, Universidad Autónoma de Baja California, Mexico. Her current research interests include automated metrology, machine vision systems, fast electrical measurements, control systems, robot navigation, and 3D laser scanners. Now she works at the Autonomous University of Baja California

Lars Lindner received the M.S. degree in mechatronics engineering from the TU Dresden University in January 2009. He was working as graduate Assistant during his studies at the Fraunhofer Institute for Integrated Circuits EAS in Dresden and also prepared his master thesis there. After finishing his career, he moved to Mexico and started teaching engineering classes at different universities in Mexicali. Since August 2013 he began his Ph.D. studies at the Engineering Institute of Universidad Autónoma de Baja California in Mexico with the topic “Theoretical Method to Increase the Speed of Continuous Mapping of a Three-dimensional Laser Scanner using Servomotor Control”, in which he worked in the development of an optoelectronic prototype for the measurement of 3D coordinates, using laser dynamic triangulation. Its academic products include 13 original research articles, 3 articles in national congresses, 21 articles in international congresses and 10 book chapters. In September 2017, he was appointed as a Level 1 National Researcher by the National System of Researchers CONACYT for the period 2018–2020. Right now he is working as a Technician Assistant at the Engineering Institute of Autonomous University of Baja California for the Department of Applied Physics. His current research interests include automated metrology, stereo vision systems, control systems, robot navigation, and 3D laser scanner

Wendy Flores-Fuentes received the bachelor degree in electronic engineering from the Autonomous University of Baja California in 2001, the master degree in engineering from Technological Institute of Mexicali in 2006, and the Ph.D. degree in science, applied physics, with emphasis on Optoelectronic Scanning Systems for SHM, from Autonomous University of Baja California in June 2014. By now she is the author of 15 journal articles in Elsevier, IEEEE merald and Springer, 5 book chapters and 4 books in Springer, Intech, IGI global Lambert Academic and Springer, 28 proceedings articles in IEEE ISIE 2014-2019, IECON 2014, 2018, 2019, the World Congress on Engineering and Computer Science (IAENG 2013), IEEE Section Mexico IEEE ROCC2011, and the VII International Conference on Industrial Engineering ARGOS 2014. Recently, she has organized and participated as Chair of Special Session on “Machine Vision, Control and Navigation” at IEEE ISIE 2015, 2016, 2017, 2019 and IECON 2018, 2019. She holds 1 patent of Mexico and 1 patent of Ukraine. She has been a Reviewer of several articles in Taylor and Francis, IEEE, Elsevier, and EEMJ. Currently, she is a Full-Time Professor at Universidad Autónoma de Baja California, at the Faculty of Engineering, and is the coordinator of the physics area in the basic science department. She has been incorporated into CONACYT National Research System in 2015. She did receive the award of “Best session presentation” in WSECS 2013 in San-Francisco, USA. She did receive as coauthor the award of “Outstanding Paper in the 2017 Emerald Literati Network Awards for Excellence”. Her current research interests include automated metrology, stereo vision systems, control systems, robot navigation, and 3D laser scanners

Julio Cesar Rodríguez-Quiñonez received the B.S. degree in CETYS, Mexico in 2007. He received the Ph.D. degree from Baja California Autonomous University, México, in 2013. He is currently Head of Public Relations Department in the Engineering Faculty of Universidad Autónoma de Baja California, Mexico. Since 2016, he is Senior Member of IEEE. He is involved in the development of optical scanning prototype in the Applied Physics Department and research leader in the development of a new stereo vision system prototype. He holds two patents referred to dynamic triangulation method, has been Editor of 2 books, Guest Editor of 2 Special Issues, written over 50 papers, 8 book chapters and has been a Reviewer for IEEE Sensors Journal, Optics and Lasers in Engineering, IEEE Transaction on Mechatronics and Neural Computing and Applications of Springer; he participated as a Reviewer and Session Chair of IEEE ISIE Conferences in 2014 (Turkey), 2015 (Brazil), 2016 (USA), 2017 (UK), 2019 (Canada), IECON 2018 (USA) and IECON 2019 (Portugal). His current research interests include automated metrology, stereo vision systems, control systems, robot navigation, and 3D laser scanners

Wilmar Hernandez graduated in 1992 with an electronics engineering degree from the Instituto Superior Politecnico Jose Antonio Echeverria (ISPJAE), Cuba, and received a specialist degree in Microelectronics from the ISPJAE in 1994. Also, he received the M.S. degree in signal processing and the Ph.D. degree in electronic engineering from Enginyeria La Salle at the Universitat Ramon Llull, Spain, in 1997 and 1999, respectively. From 1992 to 1995, he was a Lecturer in the Electrical Engineering Faculty at the ISPJAE and a Researcher in the Microelectronic Research Center at the same university. From 1999 to 2003, he was with the Department of Electronics and Instrumentation in the University Institute for the Automobile Research at the Universidad Politecnica de Madrid (UPM), Spain, where he was the Technical Director of such a department from January 2003 to January 2004. From January 2004 to March 2013 he was an Associate Professor of Circuits and Systems in the Department of Circuits and Systems in the EUIT de Telecomunicacion at the UPM. From September 2014 to September 2015 he was a researcher of SENESCYT, Ecuador, under the Prometeo fellowship program. From December 2015 to November 2017 he was a professor at the Universidad Tecnica Particular de Loja, Ecuador, and since January 2018 he has been a Professor at the Universidad de Las Americas, Ecuador

Paolo Mercorelli received the Ph.D. degree in systems engineering from Alma Mater Studiorum University of Bologna, Italy, in 1998. In 1997, he was a Visiting Researcher for one year in the Department of Mechanical and Environmental Engineering, University of California, USA. He was awarded by the Marie Curie Actions research fellowship program sponsored by The European Commission in year 1998 which he spent in ABB Corporate research Heidelberg. Thanks to this scholarship, from 1998 to 2001, he was a Postdoctoral Researcher with Asea Brown Boveri, Heidelberg, Germany. From 2002 to 2005, he was a Senior Researcher with the Institute of Automation and Informatics, Wernigerode, Germany, where he was the Leader of the Control Group. From 2005 to 2011, he was an Associate Professor of Process Informatics with Ostfalia University of Applied Sciences, Wolfsburg, Germany. In 2011 he was a Visiting Professor at Villanova University, Philadelphia, USA. Since 2012 he has been a Full Professor (Chair) of Control and Drive Systems at the Institute of Product and Process Innovation, Leuphana University of Lueneburg, Lueneburg, Germany. He received the Award for the Best Conference Paper at the 18th International Carpathian Control Conference (ICCC 2017), which took place from 28 to 31 May 2017 in Sinaia (Romania). Since 2018 he has obtained an International Visiting Professor Fellowship at Lodz University of Technology (Poland) and he is responsible for the course of “Modelling of Industrial Control Systems”. His current research interests include mechatronics, control systems, signal processing, wavelets, sensorless control, Kalman filter, camless control, knock control, lambda control, and robotics
Corresponding author: M. Ivanov, O. Sergyienko, V. Tyrsa, L. Lindner, W. FloresFuentes, J. C. Rodríguez-Quiñonez are with the Universidad Autónoma de Baja California, Mexicali, B.C. 21100, Mexico (e-mail: ivanovm@uabc.edu.mx; srgnk@uabc.edu.mx; vtyrsa@uabc.edu.mx; lindner.lars@uabc.edu.mx; flores.wendy@uabc.edu.mx; julio.rodriguez81@uabc.edu.mx)
Received Date: 2019-08-07
Revised Date: 2019-12-23
Accepted Date: 2020-01-08

Available Online: 2020-01-20

Abstract

Abstract

This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain. The navigation scheme uses the benefits of the original real-time technical vision system (TVS) based on a dynamic triangulation principle. The method uses TVS output data with fuzzy logic rules processing for resolution stabilization. Based on previous researches, the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group. According to the comparative analysis of approximation methods, in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory. The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.
- Data transfer,
- group behavior,
- machine vision,
- navigation,
- robotic group (RG),
- vision system

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References(59)

References

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沈阳化工大学材料科学与工程学院沈阳 110142

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The article covers all the task needed for complete robotic behavior model.
Articles describe the method of resolution stabilization for laser technical vision system.
Robotic navigation and trajectories are improved by implementing the data transferring within the group.

Influence of Data Clouds Fusion From 3D Real-Time Vision System on Robotic Group Dead Reckoning in Unknown Terrain

doi: 10.1109/JAS.2020.1003027

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