Napredna pretraga

Pregled bibliografske jedinice broj: 524075

Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot


Đakulović, Marija; Horvatić, Sanja; Petrović, Ivan
Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot // Proceedings of the 18th IFAC World Congress / Bittanti, S. ; Cenedese, A. ; Zampieri, S. (ur.).
Milano, 2011. str. 5950-5955 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot

Autori
Đakulović, Marija ; Horvatić, Sanja ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 18th IFAC World Congress / Bittanti, S. ; Cenedese, A. ; Zampieri, S. - Milano, 2011, 5950-5955

Skup
18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011

Mjesto i datum
Milano, Italy, 28.08.-02.09.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robot; path planning; obstacle avoidance; robotic coverage

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb