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dc.contributor.authorSemėnas, Rokas
dc.contributor.authorBaušys, Romualdas
dc.date.accessioned2023-09-18T16:08:04Z
dc.date.available2023-09-18T16:08:04Z
dc.date.issued2021
dc.identifier.other(SCOPUS_ID)85111985352
dc.identifier.urihttps://etalpykla.vilniustech.lt/handle/123456789/111553
dc.description.abstractIn this research, a new adaptive strategy is proposed for the autonomous mobile robot, which explores the unknown search and rescue (SAR) environment. The robot, which implements the proposed strategy, operates on the frontier-based exploration approach and makes a decision of where to move next by applying a total of eight new strategies for candidate frontier assessment. The fuzzy logic controller is applied to determine the most suitable candidate frontier assessment strategy regarding the current robot state and the discovered environment information. The final decision of where to move next is made by the neutrosophic interval-valued multi-criteria decision-making method, namely WASPAS-IVNS, which enables the modelling of vagueness present in the initial sensor data. The proposed adaptive strategy is tested in the virtual Gazebo simulation. The obtained test results show the increased efficiency when comparing the proposed adaptive environment exploration strategy to the static environment exploration strategies and the standard greedy environment exploration approach.eng
dc.formatPDF
dc.format.extentp. 335-353
dc.format.mediumtekstas / txt
dc.language.isoeng
dc.relation.ispartofseriesLecture notes in networks and systems vol. 204 2367-3370 2367-3389
dc.relation.isreferencedbyScopus
dc.source.urihttps://doi.org/10.1007/978-981-16-1089-9_28
dc.titleAdaptive strategy for environment exploration in search and rescue missions by autonomous robot
dc.typeStraipsnis konferencijos darbų leidinyje Scopus DB / Paper in conference publication in Scopus DB
dcterms.references34
dc.type.pubtypeP1b - Straipsnis konferencijos darbų leidinyje Scopus DB / Article in conference proceedings Scopus DB
dc.contributor.institutionVilniaus Gedimino technikos universitetas
dc.contributor.facultyFundamentinių mokslų fakultetas / Faculty of Fundamental Sciences
dc.subject.researchfieldT 007 - Informatikos inžinerija / Informatics engineering
dc.subject.vgtuprioritizedfieldsIK0303 - Dirbtinio intelekto ir sprendimų priėmimo sistemos / Artificial intelligence and decision support systems
dc.subject.ltspecializationsL106 - Transportas, logistika ir informacinės ir ryšių technologijos (IRT) / Transport, logistic and information and communication technologies
dc.subject.enautonomous robot
dc.subject.ensearch and rescue
dc.subject.enfuzzy logic controller
dc.subject.enneutrosophic sets
dc.subject.enWASPAS-IVNS
dcterms.sourcetitleCommunication and intelligent systems. Proceedings of ICCIS 2020. 2nd International conference on communication and intelligent systems, December 26-27, 2020
dc.publisher.nameSpringer
dc.publisher.cityCham
dc.identifier.doi2-s2.0-85111985352
dc.identifier.doi85111985352
dc.identifier.doi0
dc.identifier.doi10.1007/978-981-16-1089-9_28
dc.identifier.elaba102499205


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