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Mobile-robot navigation with complete coverage of unstructured environments

✍ Scribed by E. Garcia; P. Gonzalez de Santos

Publisher: Elsevier Science
Year: 2004
Tongue: English
Weight: 221 KB
Volume: 46
Category: Article
ISSN: 0921-8890
DOI: 10.1016/j.robot.2004.02.005

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✦ Synopsis

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.

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