Mobile robot-assisted cellular environment coverage

Georgios Siamantas, Konstantinos Gatsis, Antony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationArtificial Intelligence Applications and Innovations - 6th IFIP WG 12.5 International Conference, AIAI 2010, Proceedings
Pages254-261
Number of pages8
DOIs
StatePublished - 2010
Event6th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2010 - Larnaca, Cyprus
Duration: Oct 6 2010Oct 7 2010

Publication series

NameIFIP Advances in Information and Communication Technology
Volume339 AICT
ISSN (Print)1868-4238

Other

Other6th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2010
CountryCyprus
CityLarnaca
Period10/6/1010/7/10

Keywords

  • Control
  • Planning
  • Robotics

ASJC Scopus subject areas

  • Information Systems
  • Computer Networks and Communications
  • Information Systems and Management

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