The multi -criteria effectiveness evaluation of the robotic group based on 3D real-time vision system

Abstract

Robotic group collaboration in a densely cluttered terrain is one of the main problems in mobile robotics control. This article describes the basic set of tasks solved to model a robotic group behavior during the distributed search of an object (goal) with parallel mapping. The navigation scheme uses the benefits of the authors' original technical vision system (TVS) based on dynamic triangulation principles. According to the TVS output data, fuzzy logic rules of resolution stabilization were implemented; with the aim to improve the data exchange. Modified dynamic communication network model and implemented the propagation of information with a feedback method to improve the data exchange inside the robotic group. For forming the continuous and energy-saving trajectory authors are proposing to use the two-steps post-processing method of path planning with polygon approximation. The combination of our collective TVS scans fusion and modified dynamic data exchange network forming method with adjustment of the known path planning methods can improve the robotic motion planning and navigation in unknown cluttered terrain. The authors presented the results of group effectiveness based on unique detected data, analysis of completion time, and entropy reduction results based on the size of a robot group.