DocumentCode :
1768589
Title :
Path tracking control coverage of a mining robot based on exhaustive path planning with exact cell decomposition
Author :
Dae Hwan Kim ; Giang Hoang ; Min-Ji Bae ; Jin Wook Kim ; Suk Min Yoon ; Tae-Kyeong Yeo ; Hong Sup ; Sang-Bong Kim
Author_Institution :
Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Busan, South Korea
fYear :
2014
fDate :
22-25 Oct. 2014
Firstpage :
730
Lastpage :
735
Abstract :
This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning tree is considered to get minimum distance of moving path. The exhaustive coverage path is obtained by combining coverage path and moving path. Fourth, a controller is designed for a two-wheeled robot to track the exhaustive coverage path generated by path planning method. Finally, simulation and experimental results can prove efficiency of the proposed exhaustive coverage path planning method.
Keywords :
control system synthesis; industrial robots; mining; mobile robots; path planning; trees (mathematics); back-and-forth motion; controller design; exact cell decomposition; exhaustive coverage path planning method; graph path; minable area; mining robot; spanning tree; two-wheeled robot; Discrete cosine transforms; Industries; Manganese; Planning; US Department of Transportation; Backstepping control; Cell decomposition; Coverage path planning; Exhaustive path; Spanning tree; Two-wheeled robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location :
Seoul
ISSN :
2093-7121
Print_ISBN :
978-8-9932-1506-9
Type :
conf
DOI :
10.1109/ICCAS.2014.6987875
Filename :
6987875
Link To Document :
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