Article

Journal of Intelligent & Robotic Systems

, Volume 62, Issue 3, pp 329-353

A Sensor Placement Algorithm for a Mobile Robot Inspection Planning

  • Jan FaiglAffiliated withDepartment of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague Email author 
  • , Miroslav KulichAffiliated withDepartment of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague
  • , Libor PřeučilAffiliated withDepartment of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague

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Abstract

In this paper, we address the inspection planning problem to “see” the whole area of the given workspace by a mobile robot. The problem is decoupled into the sensor placement problem and the multi-goal path planning problem to visit found sensing locations. However the decoupled approach provides a feasible solution, its overall quality can be poor, because the sub-problems are solved independently. We propose a new randomized approach that considers the path planning problem during solution process of the sensor placement problem. The proposed algorithm is based on a guiding of the randomization process according to prior knowledge about the environment. The algorithm is compared with two algorithms already used in the inspection planning. Performance of the algorithms is evaluated in several real environments and for a set of visibility ranges. The proposed algorithm provides better solutions in both evaluated criterions: a number of sensing locations and a length of the inspection path.

Keywords

Sensor placement Mobile robotics Inspection path planning Art gallery problem