Design and Implementation of Complete Coverage Strategy for Autonomous Mobile Robot

被引：0

作者：

Wang Fei ^{[1
]}

Wen Shiguang ^{[1
]}

Wu Chengdong ^{[1
]}

Guo Liang ^{[1
]}

机构：

[1] Northeastern Univ, State Key Lab Integrated Automat Proc Ind, Shenyang 110819, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Mobile Robot; Complete Coverage; Steam Functions; Fuzzy Logics; Point Stabilization Control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A general scheme of complete coverage for mobile robot under unknown static environment is presented. The complete coverage problem is divided into three subproblems called region decomposition, complete coverage of subregion and subregion linking seperately. Boustrophedon decomposition method was used to decompose the region, and roundabout sweeping with forward steering combining with stream function for obstacles avoidance were adopted to complete coverage of subregion. The subregion linking was realized by point stabilization based on fuzzy logic control. Simulated coverage experiments were conducted under different conditions in Microsoft Robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme.

引用

页码：3631 / 3635

页数：5