Mobile-robot navigation with complete coverage of unstructured environments
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 environ...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2004 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/12814 |
| Acceso en línea: | http://hdl.handle.net/10261/12814 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile-robot navigation Path planning Complete coverage Unstructured environments Humanitarian de-mining |
| Sumario: | 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. |
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