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Conference paper
Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot
Marija Seder, Sanja HorvatiŠ, Ivan PetroviŠ
Proceedings of the 18th IFAC World Congress, Milano, Italy, August 28 - September 2, pp.5950--5955, 2011
ABSTRACT:
Inspired by the path transform (PT) algorithm of Zelinsky et al. the novel algorithm of complete coverage called complete coverage D* (CCD*) algorithm is developed, based on the D* search of the two-dimensional occupancy grid map of the environment. Unlike the original PT algorithm the CCD* algorithm takes the robot's dimension into account, with emphasis on safety of motion and reductions of path length and search time. Additionally, the proposed CCD* algorithm has ability to produce new complete coverage path as the environment changes. The algorithms were tested on a Pioneer 3DX mobile robot equipped with a laser range finder.
BibTeX entry:
@inproceedings \{Seder2011_516,
author = \{Seder, M. AND Horvati\'{c}, S. AND Petrovi\'{c}, I.},
title = \{Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot},
booktitle = {Proceedings of the 18th IFAC World Congress, Milano, Italy, August 28 - September 2},
pages = \{5950--5955},
year = \{2011}
}

 

 

 

 

 

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