Original title: Covering the Working Space of Mobile Robot
Authors: Krejsa, Jiří ; Věchet, Stanislav
Document type: Papers
Conference/Event: International Conference on Mechatronics /16./, Brno (CZ), 2014-12-03 / 2014-12-05
Year: 2014
Language: eng
Abstract: Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
Keywords: configuration space covering; mobile robot; path planning; rapidly exploring random trees
Host item entry: 16th International Conference on Mechatronics - Mechatronika 2014, ISBN 978-80-214-4817-9

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0242660

Permalink: http://www.nusl.cz/ntk/nusl-180472


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers