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

• Main Authors: Hong Tang, Liangzhi Li, Nanfeng Xiao
• Format: Article
• Language: English
• Published: MDPI AG 2017-02-01
• Series: Sensors
• Subjects: sensors; robotic; binocular stereo vision; robotic sensing; trajectory planning; cyber physical social sensing (CPSS)
• Online Access: http://www.mdpi.com/1424-8220/17/2/393

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.