%0 Conference Proceedings
%T Mobile Robot-Assisted Cellular Environment Coverage
%+ Electrical and Computer Engineering Dept.
%A Siamantas, Georgios
%A Gatsis, Konstantinos
%A Tzes, Antony
%< avec comité de lecture
%( IFIP Advances in Information and Communication Technology
%B 6th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations (AIAI)
%C Larnaca, Cyprus
%Y Harris Papadopoulos; Andreas S. Andreou; Max Bramer
%I Springer
%3 Artificial Intelligence Applications and Innovations
%V AICT-339
%P 254-261
%8 2010-10-06
%D 2010
%R 10.1007/978-3-642-16239-8_34
%K Robotics
%K Control
%K Planning
%Z Computer Science [cs]/Digital Libraries [cs.DL]Conference papers
%X The robotic coverage problem of a known rectangular cellular environment with obstacles is considered in this article. The robot can move only at directions parallel and perpendicular to the sides of the rectangle and can cover one cell at each time unit. A suboptimal minimum-time complete area coverage path-planning algorithm is presented. This algorithm minimizes a distance cost metric related to its current position and the quadtree-based decomposed blocks of the unexplored space. The efficiency of the suggested algorithm is shown through simulation studies and the implementation of a non-linear controller designed for a two-wheeled robot to achieve tracking of reference trajectories. For the implementation of the controller, the localization of the robotic vehicle was necessary and it was achieved via image processing.
%G English
%2 https://inria.hal.science/hal-01060675/document
%2 https://inria.hal.science/hal-01060675/file/SiamantasGT10.pdf
%L hal-01060675
%U https://inria.hal.science/hal-01060675
%~ IFIP
%~ IFIP-AICT
%~ IFIP-AICT-339
%~ IFIP-TC
%~ IFIP-WG
%~ IFIP-TC12
%~ IFIP-AIAI
%~ IFIP-WG12-5