지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 822 - 825 (4page)
이용수
초록· 키워드
오류제보하기
Complete coverage path planning is major problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. In this paper, a complete coverage path planning algorithm is proposed for two indoor floor-caring robots, such as cleaning or inspecting industrial and public floor areas, to have the minimal turning path based on the shape and size of the cell covering the whole working area. The proposed algorithm divides the whole cleaning area into cells by cellular decomposition method, and then provides efficient covering order over the cells based on distance among centroids of cells. It also provides more optimal coverage path and reduces the rate of energy consumption and working time. Both simulation and experimental results demonstrate the effectiveness of the algorithm. As compared performance indices between experiment and simulation, the total number of turns and the working time show the practical efficiency and robustness of the proposed algorithm.
목차
Abstract
1. INTRODUCTION
2. COMPLETE COVERAGE PATHPLANNINHG ALGORITHM
3. SIMULATION
4. EXPERIMENT RESULT
5. CONCLUSION
ACKNOWLEDGEMENT
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913630