Coverage algorithms for an under-actuated car-like vehicle in an uncertain environment
Bosse, Michael, Nourani-Vatani, Navid, & Roberts, Jonathan M. (2007) Coverage algorithms for an under-actuated car-like vehicle in an uncertain environment. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, IEEE, Rome, Italy, pp. 698-703.
A coverage algorithm is an algorithm that deploys a strategy as to how to cover all points in terms of a given area using some set of sensors. In the past decades a lot of research has gone into development of coverage algorithms. Initially, the focus was coverage of structured and semi-structured indoor areas, but with time and development of better sensors and introduction of GPS, the focus has turned to outdoor coverage. Due to the unstructured nature of an outdoor environment, covering an outdoor area with all its obstacles and simultaneously performing reliable localization is a difficult task. In this paper, two path planning algorithms suitable for solving outdoor coverage tasks are introduced. The algorithms take into account the kinematic constraints of an under-actuated car-like vehicle, minimize trajectory curvatures, and dynamically avoid detected obstacles in the vicinity, all in real-time. We demonstrate the performance of the coverage algorithm in the field by achieving 95% coverage using an autonomous tractor mower without the aid of any absolute localization system or constraints on the physical boundaries of the area.
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|Item Type:||Conference Paper|
|Keywords:||Global Positioning System, Collision avoidance, Lawnmowers, Mobile robots, Robot dynamics, Robot kinematics|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2007 IEEE|
|Deposited On:||04 Mar 2015 22:55|
|Last Modified:||11 Mar 2015 03:45|
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