Complete coverage motion control using gradually building map

Noriyasu Iwamoto, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a motion control algorithm for switching between three motion strategies in unknown environment using a gradually building map. It is well known that the motion control of a coverage problem based on a global map is more efficient than local information based motion control which does not use the map. When the beginning of the coverage task, the building map is insufficient, so the motion control based on the map is not so efficient. When almost end of the coverage task, the built map is expected to be almost perfect one. Our algorithm is designed with the insufficiency of the gradually building map. In the algorithm, the robot selects one of three motion strategies depending on completeness of the map. The strategies include local motion control based on local sensing, wall following control to get environmental information and global motion control based on the built map. The robot selects mainly local motion control at an early stage. As time goes on, a global motion control using the reliable map is more selected automatically. The efficiency of the coverage problem is discussed by comparing the proposed method with a control method only by local information. Some simulations and experiments using the algorithm are shown in the paper.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1917-1922
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - Jan 1 2014
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: Dec 10 2014Dec 12 2014

Publication series

Name2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

Other

Other2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period12/10/1412/12/14

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Iwamoto, N., & Yamamoto, M. (2014). Complete coverage motion control using gradually building map. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 1917-1922). [7064609] (2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2014.7064609