Kim Jonghoek
System Engineering Department, Sejong University, Seoul 05006, Republic of Korea.
Sensors (Basel). 2024 Oct 2;24(19):6400. doi: 10.3390/s24196400.
This article addresses the scanning path plan strategy of a rover team composed of three rovers, such that the team explores unknown dark outer space environments. This research considers a dark outer space, where a rover needs to turn on its light and camera simultaneously to measure a limited space in front of the rover. The rover team is deployed from a symmetric base station, and the rover team's mission is to scan a bounded obstacle-rich workspace, such that there exists no remaining detection hole. In the team, only one rover, the hauler, can locate itself utilizing stereo cameras and Inertial Measurement Unit (IMU). Every other rover follows the hauler, while not locating itself. Since Global Navigation Satellite System (GNSS) is not available in outer space, the localization error of the hauler increases as time goes on. For rover's location estimate fix, one occasionally makes the rover home to the base station, whose shape and global position are known in advance. Once a rover is near the station, it uses its Lidar to measure the relative position of the base station. In this way, the rover fixes its localization error whenever it homes to the base station. In this research, one makes the rover team fully scan a bounded obstacle-rich workspace without detection holes, such that a rover's localization error is bounded by letting the rover home to the base station occasionally. To the best of our knowledge, this article is novel in addressing the scanning path plan strategy, so that a rover team fully scans a bounded obstacle-rich workspace without detection holes, while fixing the accumulated localization error occasionally. The efficacy of the proposed scanning and localization strategy is demonstrated utilizing MATLAB-based simulations.
本文探讨了由三辆漫游车组成的漫游车队的扫描路径规划策略，以便该车队探索未知的黑暗外层空间环境。本研究考虑了一个黑暗的外层空间，在这个空间中，漫游车需要同时打开其灯光和摄像头，以测量其前方有限的空间。漫游车队从一个对称的基站部署，其任务是扫描一个有界的、障碍物丰富的工作空间，确保不存在剩余的检测漏洞。在该车队中，只有一辆漫游车，即牵引车，能够利用立体摄像头和惯性测量单元（IMU）进行自身定位。其他每辆漫游车都跟随牵引车，而不进行自身定位。由于外层空间无法使用全球导航卫星系统（GNSS），牵引车的定位误差会随着时间的推移而增加。为了修正漫游车的位置估计，偶尔会让漫游车返回基站，基站的形状和全球位置是预先已知的。一旦漫游车靠近基站，它就会使用激光雷达测量基站的相对位置。通过这种方式，漫游车每次返回基站时都能修正其定位误差。在本研究中，通过偶尔让漫游车返回基站，使漫游车队能够完全扫描一个有界的、障碍物丰富且无检测漏洞的工作空间，从而使漫游车的定位误差受到限制。据我们所知，本文在解决扫描路径规划策略方面具有创新性，即让漫游车队在修正累积定位误差的同时，完全扫描一个有界的、障碍物丰富且无检测漏洞的工作空间。利用基于MATLAB的仿真验证了所提出的扫描和定位策略的有效性。
