TY - GEN
T1 - Combined complete coverage path planning for autonomous mobile robot in indoor environment
AU - Yutian, Mao
AU - Lihua, Dou
AU - Jie, Chen
AU - Hao, Fang
AU - Haiqiang, Zhang
AU - Hu, Cao
PY - 2009
Y1 - 2009
N2 - Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method.
AB - Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method.
UR - http://www.scopus.com/inward/record.url?scp=71449127780&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:71449127780
SN - 9788995605691
T3 - Proceedings of 2009 7th Asian Control Conference, ASCC 2009
SP - 1468
EP - 1473
BT - Proceedings of 2009 7th Asian Control Conference, ASCC 2009
T2 - 2009 7th Asian Control Conference, ASCC 2009
Y2 - 27 August 2009 through 29 August 2009
ER -