Abstract
This paper presents a multi-resolution navigation algorithm for mobile robots operating as a single agent in unknown and complex environments. The algorithm seamlessly integrates the concepts of local navigation and global navigation, and enables adaptive decision-making based on the sensory information. The algorithm guarantees complete coverage of the search area and does not suffer from the local minima problem that is commonly encountered in potential field-based methods. The efficacy of the algorithm is validated on a high-fidelity Player/Stage simulator. Potential applications include humanitarian de-mining, hazard detection and floor-cleaning tasks.
| Original language | English (US) |
|---|---|
| Title of host publication | 2012 American Control Conference, ACC 2012 |
| Pages | 4867-4872 |
| Number of pages | 6 |
| State | Published - 2012 |
| Event | 2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: Jun 27 2012 → Jun 29 2012 |
Other
| Other | 2012 American Control Conference, ACC 2012 |
|---|---|
| Country | Canada |
| City | Montreal, QC |
| Period | 6/27/12 → 6/29/12 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
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Cite this
Jin, X., Gupta, S., Luff, J. M., & Ray, A. (2012). Multi-resolution navigation of mobile robots with complete coverage of unknown and complex environments. In 2012 American Control Conference, ACC 2012 (pp. 4867-4872). [6314800]