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Sensors 2017, 17(2), 393; doi:10.3390/s17020393

Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS)

1
School of Computer Science & Engineering, South China University of Technology, Guangzhou 510641, China
2
Department of Information and Electronic Engineering, Muroran Institute of Technology, Muroran 050-0071, Japan
*
Author to whom correspondence should be addressed.
Academic Editors: Mianxiong Dong, Zhi Liu, Anfeng Liu and Didier El Baz
Received: 12 December 2016 / Revised: 7 February 2017 / Accepted: 9 February 2017 / Published: 17 February 2017
(This article belongs to the Special Issue New Paradigms in Cyber-Physical Social Sensing)
View Full-Text   |   Download PDF [727 KB, uploaded 17 February 2017]   |  

Abstract

Although many researchers have begun to study the area of Cyber Physical Social Sensing (CPSS), few are focused on robotic sensors. We successfully utilize robots in CPSS, and propose a sensor trajectory planning method in this paper. Trajectory planning is a fundamental problem in mobile robotics. However, traditional methods are not suited for robotic sensors, because of their low efficiency, instability, and non-smooth-generated paths. This paper adopts an optimizing function to generate several intermediate points and regress these discrete points to a quintic polynomial which can output a smooth trajectory for the robotic sensor. Simulations demonstrate that our approach is robust and efficient, and can be well applied in the CPSS field. View Full-Text
Keywords: sensors; robotic; binocular stereo vision; robotic sensing; trajectory planning; cyber physical social sensing (CPSS) sensors; robotic; binocular stereo vision; robotic sensing; trajectory planning; cyber physical social sensing (CPSS)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Tang, H.; Li, L.; Xiao, N. Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS). Sensors 2017, 17, 393.

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