Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot (CROSBI ID 575031)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Đakulović, Marija ; Horvatić, Sanja ; Petrović, Ivan
engleski
Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot
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.
mobile robot; path planning; obstacle avoidance; robotic coverage
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Podaci o prilogu
5950-5955.
2011.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 18th IFAC World Congress
Bittanti, S. ; Cenedese, A. ; Zampieri, S.
Milano:
Podaci o skupu
18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011
predavanje
28.08.2011-02.09.2011
Milano, Italija