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

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

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

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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