Title :
Robust sensor-based coverage of unstructured environments
Author :
Acar, Ercan U. ; Choset, Howie
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Sensor-based coverage uses sensor information to determine a path that passes a detector or some effectors over all points in an unknown space. This work identifies features of a provably complete coverage algorithm to reject "bad" sensor readings in unstructured environments without performing complicated sensor-data processing. First, we briefly review our provably complete sensor-based coverage algorithm that uses an exact cellular decomposition in terms of critical points of Morse functions. Then we present features of the algorithm that are used to overcome failures due to bad sensor data. We verified our approach by performing experiments using a mobile robot that has 16 ultrasonic sensors
Keywords :
mobile robots; navigation; path planning; sonar; ultrasonic transducers; cellular decomposition; critical point sensing; critical points; mobile robot; sensor-based coverage; sonar; ultrasonic sensors; Algorithm design and analysis; Cleaning; Detectors; Mobile robots; Orbital robotics; Robot sensing systems; Robustness; Sensor phenomena and characterization; Sonar; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973337
