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
- 2013.10
- 수록면
- 929 - 934 (6page)
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초록· 키워드
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This paper presents a novel approach to deal with the online complete coverage problem for a team of robots in unknown environments. In our approach each robot covers an unvisited region using a single boustrophedon motion until a robot reaches an ending point, which is surrounded by covered positions or obstacles. At the ending point the robot detects backtracking points based on the accumulated knowledge, plans the shortest backtracking path to the next starting point based on the proposed Theta<SUP>*</SUP> with multi-goals. Then, it follows the planed path to the next starting point to cover the next unvisited region. The robot team finishes the coverage task when no backtracking point is detected. Computer simulations show that our proposed approach is efficient for the complete coverage task of a robot team in terms of the coverage rate and the coverage path length.
목차
Abstract
1. INTRODUCTION
2. THETA* ALGORITHM
3. PROPOSED APPROACH
4. SIMULATION
5. CONCLUSIONS
REFERENCES
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