Covering the Working Space of Mobile Robot

0437599 - ÚT 2015 CZ eng C - Conference Paper (international conference)
Krejsa, Jiří - Věchet, Stanislav
Covering the Working Space of Mobile Robot.
16th International Conference on Mechatronics - Mechatronika 2014. Brno: Brno University of Technology, 2014, s. 469-472. ISBN 978-80-214-4817-9.
[International Conference on Mechatronics /16./. Brno (CZ), 03.12.2014-05.12.2014]
Institutional support: RVO:61388998
Keywords : mobile robot * path planning * configuration space covering * rapidly exploring random trees
Subject RIV: JD - Computer Applications, Robotics

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.
Permanent Link: http://hdl.handle.net/11104/0242660