Design and Implementation of Complete Coverage Strategy for Autonomous Mobile Robot

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.

作者: WANG Fei WEN Shiguang WU Chengdong GUO Liang

作者单位: State Key Laboratory of Integrated Automation for Process Industries ,Northeastern University,Shenya State Key Laboratory of Integrated Automation for Process Industries ,Northeastern University,Shenya

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-5

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）