Guaranteed Coverage with a Blind Unreliable Robot
作者： Jeremy S. Lewis , Daniel A. Feshbach , Jason M. O'Kane
DOI: 10.1109/IROS.2018.8594048
关键词:
摘要: We consider the problem of coverage planning for a particular type very simple mobile robot. The robot must be able to translate in commanded direction (specified global reference frame), with bounded error on motion direction, until reaching environment boundary. objective, given map, is generate sequence motions that guaranteed cover as large portion possible, spite severe limits robot's sensing and actuation abilities. show how model knowledge available this kind about its own position within environment, compute region whose can plan, characterize regions cannot by any plan. also describe heuristic algorithm generates plans robot, based search across specially-constructed graph. Simulation results demonstrate effectiveness approach.
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