Mobile-robot navigation with complete coverage of unstructured environments

被引：49

作者：

Garcia, E ^{[1
]}

de Santos, PG ^{[1
]}

机构：

[1] CSIC, Ind Automat Inst, Dept Automat Control, Madrid 28500, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 46卷 / 04期

关键词：

mobile-robot navigation; path planning; complete coverage; unstructured environments; humanitarian de-mining;

D O I：

10.1016/j.robot.2004.02.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

There are some mobile-robot applications that require the complete coverage of an unstructured environment. Examples are humanitarian de-mining and floor-cleaning tasks. A complete-coverage algorithm is then used, a path-planning technique that allows the robot to pass over all points in the environment, avoiding unknown obstacles. Different coverage algorithms exist, but they fail working in unstructured environments. This paper details a complete-coverage algorithm for unstructured environments based on sensor information. Simulation results using a mobile robot validate the proposed approach. (C) 2004 Elsevier B.V. All rights reserved.

引用

下载

页码：195 / 204

页数：10

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