Smooth coverage path planning and control of mobile robots based on high-resolution grid map representation

Robotics and Autonomous Systems

Volumn 59, Issue 10, 2011, Pages 801-812

  Lee, Tae Kyeong ^a   Baek, Sang Hoon ^a   Choi, Young Ho ^b   Oh, Se Young ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

^b Pohang Institute of Intelligent Robotics (PIRO)   (South Korea)

Author keywords

Coarse to fine constrained inverse distance transform (CFCIDT); Complete coverage path planning; High resolution grid map; Mobile robots; Smooth coverage path; Virtual wall

Indexed keywords

DISTANCE TRANSFORMS; HIGH-RESOLUTION GRIDS; PATH-PLANNING; SMOOTH COVERAGE PATH; VIRTUAL WALLS;

ALGORITHMS; ENERGY EFFICIENCY; FEEDBACK LINEARIZATION; MOBILE ROBOTS;

ROBOT PROGRAMMING;

EID: 80051816615     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.06.002     Document Type: Article

References (25)

1. M. Dunbabin, J. Roberts, K. Usher, P. Corke, In the rough: in-field evaluation of an autonomous vehicle for golf course maintenance, in: IEEE/RJ International Conference on Intelligent Robots and Systems, Sendai, 2004, pp. 33393344.
2. T. Palleja, M. Tresanchez, M. Teixido, and J. Palacin Modelling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario Robotics and Autonomous Systems 58 1 2010 37 45
3. E.U. Acar, H. Choset, Y. Zhang, and M. Schervish Path planning for robotic demining: robust sensor-based coverage of unstructured environments and probabilistic methods International Journal of Robotics Research 22 78 2003 441 466
4. T. Pilarski, M. Happold, H. Pangels, M. Ollis, K. Fitzpatrick, and A. Stentz The demeter system for automated harvesting Autonomous Robots 13 1 2002 9 20 (Pubitemid 34732038)
5. D.C. MacKenzie, T.R. Balch, Making a clean sweep: behavior based vacuuming, in: AAAI Fall Symposium: Instantiating Real-World Agents, 1993, pp. 9398.
6. W.Y. Jeong, K.M. Lee, CV-SLAM: a new ceiling vision-based SLAM technique, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 31953200.
7. R. Mannadiar, I. Rekleitis, Optimal coverage of a known arbitrary environment, in: Proceedings of the IEEE International Conference on Robotics and Automation, Alaska, 2010, pp. 55255530.
8. C. Luo, and S.X. Yang A bioinspired neural network for real-time concurrent map building and complete coverage robot navigation in unknown environments IEEE Transactions on Neural Networks 19 7 2008 1279 1298
9. H. Choset Coverage for roboticsa survey of recent results Annals of Mathematics and Artificial Intelligence 31 14 2001 113 126
10. Y. Gabriely, and E. Rimon Competitive on-line coverage of grid environments by a mobile robot Computational Geometry 24 2003 197 224 (Pubitemid 35418423)
11. S. Hert, S. Tiwari, and V. Lumelsky A terrain-covering algorithm for an AUV Autonomous Robots 3 23 1996 91 119 (Pubitemid 126708318)
12. E.U. Acar, H. Choset, and J.Y. Lee Sensor-based coverage with extended range detectors IEEE Transactions on Robotics 22 1 2006 189 198 (Pubitemid 43245268)
13. E. Gonzalez, O. Alvarez, Y. Diaz, C. Parra, C. Bustacara, BSA: a complete coverage algorithm, in: Proceedings of the IEEE International Conference on Robotics and Automation, 2005, pp. 20402044.
14. Y. Mei, Y.H. Lu, Y.C. Hu, C.S. Lee, Energy-efficient motion planning for mobile robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 43444349.
15. Y.H. Choi, T.K. Lee, S.H. Baek, S.Y. Oh, Online complete coverage path planning for mobile robots based on linked spiral paths using constrained inverse distance transform, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 57885793.
16. B. Lau, C. Sprunk, W. Burgard, Kinodynamic motion planning for mobile robots using splines, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 24272433.
17. N. Nedjah, and L.M. Mourelle Swarm intelligent systems 2006 Springer (Chapter 1.2)
18. Y. Gabriely, E. Rimon, Spiral-STC: an on-line coverage algorithm of grid environments by a mobile robot, in: Proceedings of the IEEE International Conference on Robotics and Automation, 2002, pp. 954960.
19. T. Lewiner, J.D. Gomes, H. Lopes, and M. Craizer Curvature and tortsion estimators based on parametric curve fitting Computers & Graphics 29 2005 641 655 (Pubitemid 41531201)
20. D.E. Goldberg Genetic Algorithms in Search, Optimization, and Machine Learning 1989 Addison-Wesley Publishing Company, Inc.
21. J.E. Orosz, and S.H. Jacobson Analysis of static simulated annealing algorithms Journal of Optimization Theory and Applications 115 1 2002 165 182 (Pubitemid 39583306)
22. G. Oriolo, A.D. Luca, and M. Vendittelli WMR control via dynamic feedback linearization: design, implementation, and experimental validation IEEE Transactions on Control Systems Technology 10 6 2002 835 852 (Pubitemid 35428606)
23. B. Guenter, and R. Parent Computing the arc length of parametric curves IEEE Computer Graphics and Applications 10 3 1990 72 78 (Pubitemid 20737419)
24. C. Sprunk, Planning motion trajectories for mobile robots using splines, University of Freiburg, 2008. http://www.informatik.uni-freiburg.de/∼lau/ students/Sprunk2008.pdf.
25. J.Y. Lee, W. Yu, A Coarse-to-fine approach for fast path finding for mobile robots, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 54145419.