Publication detail

Autonomous Navigation for the Movement of the Robot in the Tube

MACHÁLEK, L. KONECKÝ, Š.

English title

Autonomous Navigation for the Movement of the Robot in the Tube

Type

conference paper

Language

en

Original abstract

The paper deals with the issue of autonomous navigation for the movement of a robot in a tube. The solution is to determine the center of a given conic section using three operations in the Geometric Algebra for Conic Sections (GAC). The article describes an engine that renders given conic sections through basic operations in the GAC. At the end of the work, an algorithm is described that calculates the axis of the tube based on the points that are located in the space from the image, where we place the center of the ellipse obtained by the image filter and fitting algorithm.

English abstract

The paper deals with the issue of autonomous navigation for the movement of a robot in a tube. The solution is to determine the center of a given conic section using three operations in the Geometric Algebra for Conic Sections (GAC). The article describes an engine that renders given conic sections through basic operations in the GAC. At the end of the work, an algorithm is described that calculates the axis of the tube based on the points that are located in the space from the image, where we place the center of the ellipse obtained by the image filter and fitting algorithm.

Keywords in English

Autonomous Navigation; Computer Graphics; Csharp; Geometric Algebra; Geometric Algebra for Conics; Image Filters; Projective Geometry; Unity Engine

Released

01.05.2023

Publisher

Springer Cham

ISBN

978-3-031-31267-0

Book

Modelling and Simulation for Autonomous Systems

Edition number

13866

Pages from–to

74–86

Pages count

13

BIBTEX


@inproceedings{BUT188152,
  author="Štěpán {Konecký} and Lukáš {Machálek},
  title="Autonomous Navigation for the Movement of the Robot in the Tube",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2023",
  month="May",
  pages="74--86",
  publisher="Springer Cham",
  isbn="978-3-031-31267-0"
}