GrasSmart: An Intelligent Robotic System for Continuous Area Coverage

Autor:	Miri Weiss-Cohen, Erez Rave, Igal Sirotin
Rok vydání:	2008
Předmět:	Spanning tree Computer science Distributed computing Path (graph theory) Breadth-first search Mobile robot Algorithm
Zdroj:	Lecture Notes in Computer Science ISBN: 9783540855620 KES (1)
Popis:	This work implements and simulates the problem known as, coverage of a continuous planar area by a mobile robot. The robot is given a bitmap of a known geometric area as an input, and derives an optimal path of coverage by implementing and improving the On-line Full Scan Spanning Tree Covering (STC) algorithm[1]. The path is calculated for the continuous area coverage by defining a DFS (Depth First Search) spanning tree. We improved the STCalgorithm by optimizing U-Turns of the path, and optimizing the shifting of the path directions, moreover, we suggest using different sensor information, which reduces errors. The results of our work are presented by a 3D simulation program which mimics the grass robots' path and statistical calculations for testing optimality.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::92d8bfaaf992e36358f2bf3a9abb6c81 https://doi.org/10.1007/978-3-540-85563-7_82 Zobrazit plný text záznamu