DocumentCode :
2901595
Title :
A real-time cooperative sweeping strategy for multiple cleaning robots
Author :
Luo, Chaomin ; Yang, Simon X.
Author_Institution :
Sch. of Eng., Guelph Univ., Ont., Canada
fYear :
2002
fDate :
2002
Firstpage :
660
Lastpage :
665
Abstract :
In this paper, a cooperative sweeping strategy of complete coverage path planning for multiple cleaning robots in a time-varying and unstructured environment is proposed using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. Multiple cleaning robots can cooperate to achieve a common sweeping goal effectively. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots.
Keywords :
multi-robot systems; neural nets; path planning; real-time systems; robot dynamics; cooperative sweeping strategy; cooperative systems; multiple cleaning robots; neural networks; obstacle avoidance; path planning; real-time systems; robot location; Cleaning; Computational modeling; Intelligent robots; Landmine detection; Neural networks; Orbital robotics; Path planning; Robot sensing systems; Robotics and automation; System recovery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on
ISSN :
2158-9860
Print_ISBN :
0-7803-7620-X
Type :
conf
DOI :
10.1109/ISIC.2002.1157841
Filename :
1157841
Link To Document :
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