Covering the working space of mobile robot

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 comp...

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Bibliographic Details
Published in:	Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014 pp. 469 - 472
Main Authors:	Krejsa, Jiri, Vechet, Stanislav
Format:	Conference Proceeding
Language:	English
Published:	Brno University of Technology 01-12-2014
Subjects:	Automation Conferences configuration space covering Legged locomotion mobile robot Path planning rapidly exploring random trees Space exploration
Online Access:	Get full text
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Summary:	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.
DOI:	10.1109/MECHATRONIKA.2014.7018304