{"title":"Covering the working space of mobile robot","authors":"J. Krejsa, S. Vechet","doi":"10.1109/MECHATRONIKA.2014.7018304","DOIUrl":null,"url":null,"abstract":"Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MECHATRONIKA.2014.7018304","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain areas of interest by appropriately generating corresponding goals. Method performance is compared to random walk in simulation experiments.
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