DocumentCode :
1203349
Title :
Constrained Motion Model of Mobile Robots and Its Applications
Author :
Zhang, Fei ; Xi, Yugeng ; Lin, Zongli ; Chen, Weidong
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai
Volume :
39
Issue :
3
fYear :
2009
fDate :
6/1/2009 12:00:00 AM
Firstpage :
773
Lastpage :
787
Abstract :
Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of the k-step reachable region can be reduced from that of 2k reachable regions with the fixed motion styles to k + 1 such regions and provide an algorithm for its calculation. Based on the constrained motion model and the k -step reachable region, the problems associated with target detecting and dynamic coverage are formulated and solved. For target detecting, the k-step detectable region is used to describe the area that the robot may detect, and an algorithm for detecting a target and planning the optimal path is proposed. For dynamic coverage, the k-step detected region is used to represent the area that the robot has detected during its motion, and the dynamic-coverage strategy and algorithm are proposed. Simulation results demonstrate the efficiency of the coverage algorithm in both convex and concave environments.
Keywords :
mobile robots; motion control; path planning; robot dynamics; target tracking; constrained motion model; dynamic coverage strategy; k-step reachable region; mobile robot; optimal path planning; target detection; Constrained motion model; dynamic coverage; mobile robot; path planning; reachable region; target detecting;
fLanguage :
English
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher :
ieee
ISSN :
1083-4419
Type :
jour
DOI :
10.1109/TSMCB.2008.2009229
Filename :
4804713
Link To Document :
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