TY - GEN
T1 - Simultaneous exploration and coverage by a mobile robot
AU - Mohammad Minhaz Falaki, P. M.
AU - Padman, Akshar
AU - Nair, Vishnu G.
AU - Guruprasad, K. R.
N1 - Publisher Copyright:
© 2020, Springer Nature Singapore Pte Ltd.
PY - 2020/1/1
Y1 - 2020/1/1
N2 - In this paper, we propose a problem of simultaneous exploration and coverage for a mobile robot, combining the problems of area coverage with exploration and mapping. The primary task here is to completely cover an initially unknown region. Here we combine the advantages of online and off-line coverage path planning algorithms by using the exploration as an aid. The robots perform intermittent exploration during coverage in order to update the map of the environment, which in turn is used to generate the coverage path. We illustrate and demonstrate the problem using the off-line version of Spanning Tree Coverage algorithm with a frontier-based exploration strategy. The simulation results demonstrate that the robot successfully achieves complete and non-repetitive coverage.
AB - In this paper, we propose a problem of simultaneous exploration and coverage for a mobile robot, combining the problems of area coverage with exploration and mapping. The primary task here is to completely cover an initially unknown region. Here we combine the advantages of online and off-line coverage path planning algorithms by using the exploration as an aid. The robots perform intermittent exploration during coverage in order to update the map of the environment, which in turn is used to generate the coverage path. We illustrate and demonstrate the problem using the off-line version of Spanning Tree Coverage algorithm with a frontier-based exploration strategy. The simulation results demonstrate that the robot successfully achieves complete and non-repetitive coverage.
UR - https://www.scopus.com/pages/publications/85071490222
UR - https://www.scopus.com/pages/publications/85071490222#tab=citedBy
U2 - 10.1007/978-981-13-9419-5_3
DO - 10.1007/978-981-13-9419-5_3
M3 - Conference contribution
AN - SCOPUS:85071490222
SN - 9789811394188
T3 - Lecture Notes in Electrical Engineering
SP - 33
EP - 41
BT - Control Instrumentation Systems - Proceedings of CISCON 2018
A2 - Shreesha, C.
A2 - Gudi, Ravindra D.
PB - Springer Verlag
T2 - 15th Control Instrumentation Systems Conference, CISCON 2018
Y2 - 26 October 2018 through 27 October 2018
ER -