Mobile Robot-Assisted Cellular Environment Coverage

Abstract : The robotic coverage problem of a known rectangular cellular environment with obstacles is considered in this article. The robot can move only at directions parallel and perpendicular to the sides of the rectangle and can cover one cell at each time unit. A suboptimal minimum-time complete area coverage path-planning algorithm is presented. This algorithm minimizes a distance cost metric related to its current position and the quadtree-based decomposed blocks of the unexplored space. The efficiency of the suggested algorithm is shown through simulation studies and the implementation of a non-linear controller designed for a two-wheeled robot to achieve tracking of reference trajectories. For the implementation of the controller, the localization of the robotic vehicle was necessary and it was achieved via image processing.
Type de document :
Communication dans un congrès
Harris Papadopoulos; Andreas S. Andreou; Max Bramer. 6th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations (AIAI), Oct 2010, Larnaca, Cyprus. Springer, IFIP Advances in Information and Communication Technology, AICT-339, pp.254-261, 2010, Artificial Intelligence Applications and Innovations. 〈10.1007/978-3-642-16239-8_34〉
Liste complète des métadonnées

Littérature citée [10 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01060675
Contributeur : Hal Ifip <>
Soumis le : vendredi 17 novembre 2017 - 14:27:16
Dernière modification le : lundi 18 décembre 2017 - 01:11:02
Document(s) archivé(s) le : dimanche 18 février 2018 - 15:54:23

Fichier

SiamantasGT10.pdf
Fichiers produits par l'(les) auteur(s)

Licence


Distributed under a Creative Commons Paternité 4.0 International License

Identifiants

Citation

Georgios Siamantas, Konstantinos Gatsis, Antony Tzes. Mobile Robot-Assisted Cellular Environment Coverage. Harris Papadopoulos; Andreas S. Andreou; Max Bramer. 6th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations (AIAI), Oct 2010, Larnaca, Cyprus. Springer, IFIP Advances in Information and Communication Technology, AICT-339, pp.254-261, 2010, Artificial Intelligence Applications and Innovations. 〈10.1007/978-3-642-16239-8_34〉. 〈hal-01060675〉

Partager

Métriques

Consultations de la notice

62

Téléchargements de fichiers

4