Hofner C. and Schmidt, G. (1995). Path Planning and Guidance Techniques for Autonomous Mobile Cleaning Robot. Robotics and Autonomous Systems, 14, (pp. 91119) .  Home/Search   Document Not in Database   Summary   Related Articles   Check

....scalable, ad hoc deployable and accommodating of the hardware constraints of very small devices. 1. 2 The Problem: Environment Dependent Configuration Not surprisingly, localization has manifested itself as a classical problem in many disciplines, including the autonomous robot navigation problem [HS98] in mobile robotics [TFB01] virtual reality systems [WBV99] air, land and water vehicle navigation in intelligent transportation systems [VOR, HLC92] user location and tracking in cellular networks [RAD] etc. environmental dependence. To achieve localization in any given environment, several ....

C. Hofner and G. Schmidt. "Path planning and guidance techniques for an autonomous mobile cleaning robot." Robotics and Autonomous Systems, 14:199--212, May 1998.

.... problem of autonomous goal directed navigation in unstructured environments; this is essential for mobile robots operating in hostile conditions, like space, sea and contaminated habitats, as well as in the emerging field of service robotics, that include waste management [39] cleaning [55], luggage transfer, mail delivery, reconnaissance and handicap assistance. Nevertheless, a trivial solution cannot be derived due to the following impediments. Unstructured and dynamically changing navigation domain. Mobility constraints of the mobile robot such as non linear motor control ....

Hofner C. and Schmidt G., Path Planning and Guidance Techniques for an Autonomous Mobile Cleaning Robot, J. Robotics and Autonomous Systems, 14:199-212, 1995.

....years. Robotics has evolved to a point where mobile robots are commercially used, for example, as meal delivery robots in hospitals [45] There are other working prototypes, such as vehicles that navigate autonomously on highways [37, 13, 91] and mobile robots that navigate in office buildings [57, 25, 33, 96, 82, 54, 55]. These successes have motivated and excellerated research in various areas. There is a wide range of work: at one end of the spectrum are systems implemented on physical robots; at the other end are algorithms solving fundamental mathematical problems. This thesis presents algorithms analyzed ....

Christian Hofner and Gunther Schmidt. Path planning and guidance techniques for an autonomous mobile cleaning robot. In Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, volume 1, pages 610--617, Munich, Germany, September 1994.

....robot covers the current cell, it simultaneously looks for the closing critical point which identifies the completion of the current cell. See Figure 6. The challenge now is to ensure that the robot finds the closing critical point of the cell. Most convention al coverage algorithms ( 7] 10] [11], 15] perform the bulk of their coverage using a raster scan type of motion: lap to an obstacle, follow the obstacle boundary for a lateral distance equal to inter lap spacing, and repeat. This alternates wall following between the ceiling and floor of the cell as shown in Figure 7 a. ....

C. Hofner and G. Schmidt. Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and Autonomous Systems, 14:199-212, 1995.

....and merging data from satellites at different orbits. Perhaps the most related works are the attempts on coverage of an initially unknown environment for mobile robots [4,6] However, when the geometry of the environment is known in advance, coverage becomes a special case of path planning [10]. Both of these problems are solved using generalized Voronoi diagrams. Radar and sonar coverage also present several related challenges. The radar and sonar netting optimization is of great importance in the networking technologies and the optimal distribution of detection and tracking in a ....

Hofner, C.; Schmidt, G. Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and Autonomous Systems, May 1998 vol.14 (no.2-3):199-212.

....and merging data from satellites at different orbits. Perhaps the most related works are the attempts on coverage of an initially unknown environment for mobile robots [4, 6] However, when the geometry of the environment is known in advance, coverage becomes a special case of path planning [10]. Both of these problems are solved using generalized Voronoi diagrams. Radar and sonar coverage also present several related challenges. The radar and sonar netting optimization is of great importance in the networking technologies and the optimal distribution of detection and tracking in a ....

C. Hofner, G. Schmidt, Path Planning And Guidance Techniques For An Autonomous Mobile Cleaning Robot, Robotics and Autonomous Systems, vol.14, pp. 199-212, May 1998.

....Another issue with use on more traditional mobile robot systems is the nonholonomy inherent in many mobile bases, which may make the seed sowing path inecient as well as dicult if not nearly impossible to follow. While work has been done on covering known environments with nonholonomic robots [56] by heuristically concatenating achievable path segments, it is not entirely clear how this could be extended to the sensor based case. One concept worth consideration is to use a di erent atomic path component (e.g. a spiral rather than seed sowing) and then to use a di erent decomposition which ....

C. Hofner and G. Schmidt, \Path planning and guidance techniques for an autonomous mobile cleaning robot," Robotics and Autonomous Syst., vol. 14, pp. 199-212, 1995.

....proportional controller is used to track the desired path. Marchant tested the vehicle on four fields of cauliflower. The control error for these runs was determined to be less than 20 mm RMS. Cleaning Vehicles Hofner and Schmidt present MACROBE, an autonomous floor cleaning and inspecting robot [7,8]. Navigation is achieved by executing one of five preprogrammed motion macros. A planner on MACROBE uses its current knowledge of the workspace to generate a serpentine path made up of these motion macros. If an unexpected obstacle is encountered, MACROBE adds it to its knowledge of the workspace ....

Hofner, C. and Schmidt, G., "Path Planning and Guidance Techniques for an Autonomous Mobile Cleaning Robot," Robotic and Autonomous Systems, v14, n2-3, May 1995, p199-212.

....of food fetching. A reactive model of behavior is presented, and simulation shows that detailed communication does not contribute too much to the performance. In [2] many experimental works are presented for planetary exploration by autonmous robots. Heuristic navigation methods are given in [11] for path planning of an autonomous mobile cleaning robot, and in [13] for a robot exploration and mapping strategy. However no rigorous analysis is given in the above references. In [12] an algorithm is presented for exploration of an undersea terrain, using exact location sensors and internal ....

C. Hofner, G. Schmidt, "Path planning and guidance techniques for an autonomous mobile cleaning robot," Robotics and Autonomous Systems (1995), 14:199-212.

....when required to be autonomously fulfilled by mobile robots. Cleaning tasks require a special kind of trajectory able to cover all the unoccupied areas in the specified cleaning environments. Paths that comply with this requirement are known as paths of total coverage. A few publications, [1], 2] 3] have discussed the application of mobile robots to floor cleaning tasks without the explicit knowledge of the geometry and complexity of the cleaning area. Some methods for generating a path of total coverage, based on a map of the area to be cleaned, have been presented in the near ....

....to floor cleaning tasks without the explicit knowledge of the geometry and complexity of the cleaning area. Some methods for generating a path of total coverage, based on a map of the area to be cleaned, have been presented in the near past. They use grid based, 3] or template based approaches, [1]. This paper describes a template based methodology for planning paths of total coverage. A 2D map of the environment is assumed to be known a priori. The system, implemented on a commercially available mobile platform, 8] exclusively relies on odometry and ultrasonic data, aiming at providing a ....

[Article contains additional citation context not shown here]

Chistian Hofner, Gunther Schmidt, "Path Planning and Guidance Techniques for an Autonomous Mobile Robot," Robotics and Autonomous Systems, vol.14, no. 2-3, May 1995, pp.199-212.

....model of behavior is presented, and simulation shows that detailed communication does not contribute too much to the performance. In [Giralt Weisbin (Editors)1995] many experimental works are presented for planetary exploration by autonomous robots. Heuristic navigation methods are given in [Hofner Schmidt 1995] for path planning of an autonomous mobile cleaning robot, and in [Kuipers Byun 1981] for a robot exploration and mapping strategy. However no rigorous analysis is given in the above references. In [Hert, Tiwari Lumelsky 1996] an algorithm is presented for exploration of an undersea terrain, ....

C. Hofner, G. Schmidt, "Path planning and guidance techniques for an autonomous mobile cleaning robot," Robotics and Autonomous Systems (1995), 14:199-212.

....of food fetching. A reactive model of behavior is presented, and simulation shows that detailed communication does not contribute too much to the performance. In [5] many experimental works are presented for planetary exploration by autonmous robots. Heuristic navigation methods are given in [17] for path 1 Note that if r 0, a covering path tends to be a space filling curve [28] which is a continuous 1 dimensional curve that fills a 2 dimensional domain. planning of an autonomous mobile cleaning robot, and in [20] for a robot exploration and mapping strategy. However no rigorous ....

C. Hofner, G. Schmidt, "Path planning and guidance techniques for an autonomous mobile cleaning robot,"Robotics and Autonomous Systems (1995), 14:199-212.

....project [ Ollis and Stentz, 1996 ] is used to harvest large fields; in this approach the robot simply uses vision to guide its path alongside the previous cut crop line and can only cover rectangular fields. A floor coverage approach that considers nonholonomic constraints is described in [ Hofner and Schmidt, 1995 ] In this work, a set of templates is used to cover only a bounded region that is free of obstacles. These templates are used to accommodate the nonholonomic constraints of the robot, and thus may be useful for planning back and forth motions within each cell of the proposed approach. However, ....

C. Hofner and G. Schmidt. Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and Autonomous Systems, 14:199--212, 1995.

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Hofner C. and Schmidt, G. (1995). Path Planning and Guidance Techniques for Autonomous Mobile Cleaning Robot. Robotics and Autonomous Systems, 14, (pp. 91119) .

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C. Hofner and G. Schmidt, (1995). "Path planning and guidance techniques for autonomous mobile cleaning robot. " Robotics and Autonomous Systems, 14.

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C. Hofner and G. Schmidt, Path Planning And Guidance Techniques For An Autonomous Mobile Cleaning Robot, International Conference on Intelligent Robots and Systems (IROS), pp. 610-617, 1994

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