International audienceThe robotic coverage problem of a known rectangular cellular environment with obstacles is considered in this article. The robot can move only at directions parallel and perpendicular to the sides of the rectangle and can cover one cell at each time unit. A suboptimal minimum-time complete area coverage path-planning algorithm is presented. This algorithm minimizes a distance cost metric related to its current position and the quadtree-based decomposed blocks of the unexplored space. The efficiency of the suggested algorithm is shown through simulation studies and the implementation of a non-linear controller designed for a two-wheeled robot to achieve tracking of reference trajectories. For the implementation of the controller, the localization of the robotic vehicle was necessary and it was achieved via image processing

For articulated vehicles met in robotics and transportation fields, even for an experienced operator, backing-up leads usually to jack-knifing. This paper presents a fuzzy logic controller for back-driving a truck-trailer vehicle into a predefined parking task. The truck-trailer link system is equipped with a kingpin sliding mechanism acting as an anti-jackknife excitation input. By applying fuzzy logic control techniques, precise system model is not required. The developed controller with thirty four rules works well as the presented simulation results demonstrate the avoidance of jack-knife and the accuracy of the backing-up technique.

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