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Algorithm for covert convoy of a moving target using a group of autonomous robots
Author(s): Igor Polyakov; Evgeny Shvets
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Paper Abstract

An important application of autonomous robot systems is to substitute human personnel in dangerous environments to reduce their involvement and subsequent risk on human lives. In this paper we solve the problem of covertly convoying a civilian in a dangerous area with a group of unmanned ground vehicles (UGVs) using social potential fields. The novelty of our work lies in the usage of UGVs as compared to the unmanned aerial vehicles typically employed for this task in the approaches described in literature. Additionally, in our paper we assume that the group of UGVs should simultaneously solve the problem of patrolling to detect intruders on the area. We develop a simulation system to test our algorithms, provide numerical results and give recommendations on how to tune the potentials governing robots’ behaviour to prioritize between patrolling and convoying tasks.

Paper Details

Date Published: 13 April 2018
PDF: 9 pages
Proc. SPIE 10696, Tenth International Conference on Machine Vision (ICMV 2017), 106960J (13 April 2018); doi: 10.1117/12.2309541
Show Author Affiliations
Igor Polyakov, Institute for Information Transmission Problems (Russian Federation)
Evgeny Shvets, Institute for Information Transmission Problems (Russian Federation)


Published in SPIE Proceedings Vol. 10696:
Tenth International Conference on Machine Vision (ICMV 2017)
Antanas Verikas; Petia Radeva; Dmitry Nikolaev; Jianhong Zhou, Editor(s)

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