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A Robot Coverage Algorithm Integrated with SLAM for Unknown Environments

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2010, 15(1), pp.61-69
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Jung Kyu Park 1 Heung Seok Jeon 2 Sam H. Noh 1

1홍익대학교
2건국대학교

Accredited

ABSTRACT

An autonomous robot must have a global workspace map in order to cover the complete workspace. However, most previous coverage algorithms assume that they have a grid workspace map that is to be covered before running the task. For this reason, most coverage algorithms can not be applied to complete coverage tasks in unknown environments. An autonomous robot has to build a workspace map by itself for complete coverage in unknown environments. Thus, we propose a new DmaxCoverage algorithm that allows a robot to carry out a complete coverage task in unknown environments. This algorithm integrates a SLAM algorithm for simultaneous workspace map building. Experimentally, we verify that DmaxCoverage algorithm is more efficient than previous algorithms.

Citation status

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