2024-03-28T09:13:37Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/128142021-06-11T13:05:41Zcom_10261_96com_10261_4col_10261_349
Mobile-robot navigation with complete coverage of unstructured environments
García Armada, Elena
González de Santos, Pablo
Mobile-robot navigation
Path planning
Complete coverage
Unstructured environments
Humanitarian de-mining
Humanitarian de-mining
There are some mobile-robot applications that require the complete coverage of an unstructured environment. Examples are humanitarian de-mining and floor-cleaning tasks. A complete-coverage algorithm is then used, a path-planning technique that allows the robot to pass over all points in the environment, avoiding unknown obstacles. Different coverage algorithms exist, but they fail working in unstructured environments. This paper details a complete-coverage algorithm for unstructured environments based on sensor information. Simulation results using a mobile robot validate the proposed approach.
2009-05-05T09:52:09Z
2009-05-05T09:52:09Z
2004-04-30
artículo
Robotics and Autonomous Systems 46, ( 4) 195-204, 2004
http://hdl.handle.net/10261/12814
10.1016/j.robot.2004.02.005
eng
http://dx.doi.org/10.1016/j.robot.2004.02.005
openAccess
Elsevier