Mobile Robot-Assisted Cellular Environment Coverage

Abstract

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

Control of cooperative unmanned aerial vehicles

“…In an attempt to solve these NP-hard problems in a real-time manner, suboptimal solutions are sought. These "intelligent" suboptimal solutions are close to the optimal ones and can be computed at a fraction of the time (43,44,45,46,47,48,49,50).…”