Complete coverage control for nonholonomic mobile robots in dynamic environments

Yi Guo, Mohanakrishnan Balakrishnan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

44 Scopus citations

Abstract

We study the problem of generating continuous steering control for robots to completely cover a bounded region over a finite time. First, we pack the area by disks of minimum number, and then a neural network based path planning method is adopted to generate complete coverage paths avoiding collisions with stationary and moving objects. Smooth trajectory is developed using parametric polynomial approximation, and continuous steering control is designed to track the trajectory exactly. The algorithm works for car-like robots which have nonholonomic motion constraints, and the control inputs are represented by analytic functions of trajectory parameters. The design is finally extended to cooperative sweeping of multiple robots. Satisfactory performances are observed in simulations.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1704-1709
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • Complete coverage
  • Motion planning
  • Nonholonomic systems
  • Path planning

Fingerprint

Dive into the research topics of 'Complete coverage control for nonholonomic mobile robots in dynamic environments'. Together they form a unique fingerprint.

Cite this