Complete coverage motion control using gradually building map

Noriyasu Iwamoto, Motoji Yamamoto

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

抄録

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.

本文言語英語
ホスト出版物のタイトル2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1917-1922
ページ数6
ISBN(電子版)9781479951994
DOI
出版ステータス出版済み - 1月 1 2014
イベント2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, シンガポール
継続期間: 12月 10 201412月 12 2014

出版物シリーズ

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

その他

その他2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
国/地域シンガポール
CitySingapore
Period12/10/1412/12/14

!!!All Science Journal Classification (ASJC) codes

  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 人工知能
  • 制御およびシステム工学

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