An Algorithm for Sensory Area Coverage by Mobile Robots Operating in Complex Arenas | SpringerLink
Skip to main content
Springer Nature Link
Log in

An Algorithm for Sensory Area Coverage by Mobile Robots Operating in Complex Arenas

  • Conference paper
Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

Included in the following conference series:

  • 1292 Accesses

Abstract

In this paper, a novel algorithm for sensory area coverage by mobile robots is proposed, with applications in, for example, mapping and exploration. The algorithm generates a sequence of nodes for the robot to visit, such that it covers as much as possible of the arena using a laser range finder. A crucial part of the exploration behavior implementing this algorithm is a deadlock avoidance procedure, which allows the robot to handle the inevitable problems (such as coping with narrow passages and obstacles of different size and height) that occur when navigating in complex arenas. Despite the simplicity of the algorithm, the robot is generally able to cover (with its laser range finder) 98% or more of an initially unexplored arena.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Acar, E.U., Choset, H.: Sensor-Based Coverage of Unknown Environments. Int. J. Robotics Research 21, 345–366 (2002)

    Article  Google Scholar 

  2. Edlinger, T., von Puttkamer, E.: Exploration of an Indoor-Environment by an Autonomous Mobile Robot. In: Proc. of IROS 1994, pp. 1278–1284 (1994)

    Google Scholar 

  3. González-Baños, H.H., Latombe, J.-C.: Navigation Strategies for Exploring Indoor Environments. Int. J. Robotics Research 21, 829–848 (2002)

    Article  Google Scholar 

  4. Stachniss, C., Burgard, W.: Exploring Unknown Environments with Mobile Robots using Coverage Maps. In: Proc. of IJCAI 2003, pp. 1127–1132 (2003)

    Google Scholar 

  5. Zelinsky, A., et al.: Planning Paths of Complete Coverage of Unstructured Environments by a Mobile Robot. In: Proc. of ICAR 1993, pp. 533–538 (1993)

    Google Scholar 

  6. Wahde, M.: A General-Purpose Method for Decision-Making in Autonomous Robots. In: Chien, B.-C., Hong, T.-P., Chen, S.-M., Ali, M. (eds.) IEA/AIE 2009. LNCS (LNAI), vol. 5579, pp. 1–10. Springer, Heidelberg (2009)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Applied Mechanics, Chalmers University of Technology, 412 96, Göteborg, Sweden

    Mattias Wahde & David Sandberg

Authors
  1. Mattias Wahde
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. David Sandberg
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

    Jong-Hwan Kim

  2. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Abdullah Al Manum  & 

  4. Technische Universität Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Institut für Informatik/I12, Technische Universität München, Boltzmannstr. 3,, D-85748, Garching b. München, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, P.O. Box, Paderborn, Germany

    Ulf Witkowski

  9. Interactive & Digital Media Institute, National University of Singapore, Blk E3A #02-04, 7 Engineering Drive 1, 117574, Singapore

    Ryohei Nakatsu

  10. University of Manitoba, R3T 2N2, Winnipeg, MB, Canada

    Jacky Baltes

  11. Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  12. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

Rights and permissions

Reprints and permissions

Copyright information

© 2009 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Wahde, M., Sandberg, D. (2009). An Algorithm for Sensory Area Coverage by Mobile Robots Operating in Complex Arenas. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_22

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-03983-6_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation