Sistema de navegación de cobertura para vehículos no holonómicos en ambientes de exterior

TL;DR

This work is intended to be a proof of concept for the potential automation of various unit processes that require coverage navigation like the ones mentioned before, and includes the calculation of routes that allow a mobile platform to cover a specific area.

Abstract

In mobile robotics, coverage navigation refers to the deliberate movement of a robot with the purpose of covering a certain area or volume. Performing this task properly is fundamental for the execution of several activities, for instance, cleaning a facility with a robotic vacuum cleaner. In the mining industry, it is required to perform coverage in several unit processes related with material movement using industrial machinery, for example, in cleaning tasks, in dumps, and in the construction of tailings dam walls. The automation of these processes is fundamental to enhance the security associated with their execution. In this work, a coverage navigation system for a non-holonomic robot is presented. This work is intended to be a proof of concept for the potential automation of various unit processes that require coverage navigation like the ones mentioned before. The developed system includes the calculation of routes that allow a mobile platform to cover a specific area, and incorporates recovery behaviors in case that an unforeseen event occurs, such as the arising of dynamic or previously unmapped obstacles in the terrain to be covered, e.g., other machines or pedestrians passing through the area, being able to perform evasive maneuvers and post-recovery to ensure a complete coverage of the terrain. The system was tested in different simulated and real outdoor environments, obtaining results near 90% of coverage in the majority of experiments. The next step of development is to scale up the utilized robot to a mining machine/vehicle whose operation will be validated in a real environment. The result of one of the tests performed in the real world can be seen in the video available in https://youtu.be/gK7_3bK1P5g.

Figures (12)

• Figure 1: Sistema de navegación de cobertura conceptual. El diagrama ilustra los componentes principales y sus interacciones. Se incluye una componente de fuentes sensoriales, que aunque no forma parte del sistema, es fundamental para la navegación, ya que se necesita información exteroceptiva y propioceptiva para alimentar a otros componentes.
• Figure 2: Algoritmos de planificación de cobertura. (a) Descomposición en celdas de Boustrophedon. (b) Funcionamiento de algoritmos de minimización local de energía y bioinspirados en redes neuronales. (c) Funcionamiento del algoritmo basado en líneas de contorno. (d) Funcionamiento del algoritmo de planificación con sensores convexos.
• Figure 3: Sistemas implementados. (a) Usando move_base. (b) Usando planificador local basado en RL.
• Figure 4: Pipeline de aplicación de filtros y transformaciones del nodo de procesamiento de fuentes sensoriales. El dato de entrada (dato crudo) corresponde a una nube de puntos tridimensional.
• Figure 5: Árbol de comportamiento del sistema de cobertura. El orden de lectura es izquierda-derecha y arriba-abajo.