Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots

• Autores: Daisuke Kurabayashi, Tamio Arai, Kanji Iwase, Jun Ota, Hajime Asama, Isao Endo
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 299-308
• Idioma: inglés
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• Resumen

  • In this paper, we propose an algorithm of real time path adaptation for sweeping by autonomous mobile robot. Sweeping means a motion that a robot covers a 2-dimensional area. A robot which runs on a path generated by off-line planner has to arrange its path according to real contour in real time because its map (model) can have errors. We add data structure to each curve which composes a sweeping path. Navigation with sensing real contour, a robot updates its map and adjusts its sweeping path to real environment. By referring to the data structure, a robot can specify elements which should be considered to arrange its sweeping path immediately and avoid heavy calculation. We verify the efficiency of the algorithm through simulations, and apply the proposed algorithm to real mobile robot system.