title: Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS).
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.
authors.affiliation: School of Computer Science & Engineering, South China University of Technology, Guangzhou 510641, China. tang.hong@mail.scut.edu.cn.
authors.forename: Hong
authors.initials: H
authors.lastname: Tang
authors.affiliation: Department of Information and Electronic Engineering, Muroran Institute of Technology, Muroran 050-0071, Japan. conscienceli@gmail.com.
authors.forename: Liangzhi
authors.initials: L
authors.lastname: Li
authors.affiliation: School of Computer Science & Engineering, South China University of Technology, Guangzhou 510641, China. xiaonf@scut.edu.cn.
authors.forename: Nanfeng
authors.initials: N
authors.lastname: Xiao
keywords: binocular stereo vision; cyber physical social sensing (CPSS); robotic; robotic sensing; sensors; trajectory planning