Multi-resolution navigation of mobile robots with complete coverage of unknown and complex environments

Xin Jin, Shalabh Gupta, Jacqueline M. Luff, Asok Ray

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    9 Scopus citations

    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 languageEnglish (US)
    Title of host publication2012 American Control Conference, ACC 2012
    Pages4867-4872
    Number of pages6
    StatePublished - 2012
    Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
    Duration: Jun 27 2012Jun 29 2012

    Other

    Other2012 American Control Conference, ACC 2012
    CountryCanada
    CityMontreal, QC
    Period6/27/126/29/12

    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]