Title :
A new exploration strategy for mobile robots based on a cost function approach
Author :
Sommer, Volker ; Röcher, Andreas
Author_Institution :
Innovationen & Beratung, Berlin, Germany
Abstract :
A new exploration method for mobile robots is presented applicable especially in home and office environment. For calculating new robot positions, the method uses an iterative algorithm based on a cost function. The closer area surrounding each position is scanned and simultaneously cleaned, using an extensible arm with an end-effector. The new approach enables the robot to clean any floor space fast and thoroughly, requiring only low processing power.
Keywords :
end effectors; iterative methods; mobile robots; path planning; cost function; end-effector; exploration method; iterative algorithm; mobile robots; Cleaning; Cost function; Mobile robots; Navigation; Orbital robotics; Path planning; Robot sensing systems; Service robots; Stochastic processes; Topology;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248888
