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Mobile-robot navigation with complete coverage of unstructured environments

AuthorsGarcía Armada, Elena ; González de Santos, Pablo
KeywordsMobile-robot navigation
Path planning
Complete coverage
Unstructured environments
Humanitarian de-mining
Humanitarian de-mining
Issue Date30-Apr-2004
CitationRobotics and Autonomous Systems 46, ( 4) 195-204, 2004
AbstractThere 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.
Publisher version (URL)http://dx.doi.org/10.1016/j.robot.2004.02.005
Appears in Collections:(IAI) Artículos
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