TY - GEN
T1 - Complete coverage control for nonholonomic mobile robots in dynamic environments
AU - Guo, Yi
AU - Balakrishnan, Mohanakrishnan
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Complete coverage
KW - Motion planning
KW - Nonholonomic systems
KW - Path planning
UR - http://www.scopus.com/inward/record.url?scp=33845624256&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845624256&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641952
DO - 10.1109/ROBOT.2006.1641952
M3 - Conference contribution
AN - SCOPUS:33845624256
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1704
EP - 1709
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -