DocumentCode
236765
Title
Covering the working space of mobile robot
Author
Krejsa, Jiri ; Vechet, Stanislav
Author_Institution
Inst. of Thermomech., Prague, Czech Republic
fYear
2014
fDate
3-5 Dec. 2014
Firstpage
469
Lastpage
472
Abstract
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
Keywords
mobile robots; path planning; trees (mathematics); RRT algorithm; mobile robot; presentation robotics; rapidly exploring random tree algorithm; security robot patrol; working space covering; Automation; Conferences; Legged locomotion; Path planning; Space exploration; configuration space covering; mobile robot; path planning; rapidly exploring random trees;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics - Mechatronika (ME), 2014 16th International Conference on
Conference_Location
Brno
Print_ISBN
978-80-214-4817-9
Type
conf
DOI
10.1109/MECHATRONIKA.2014.7018304
Filename
7018304
Link To Document