Title :
Boundary coverage path planning for modeling of building interiors
Author :
Bong Keun Kim ; Tanaka, Hiroya ; Sumi, Yasushi
Author_Institution :
Intell. Syst. Res. Inst., AIST, Tsukuba, Japan
Abstract :
In this paper, a boundary coverage path planning algorithm for indoor modeling is proposed. Indoor modeling using a mobile robot with two line scanning laser sensors is introduced and the path planning algorithm for gathering environment information is presented based on an Eulerian circuit.
Keywords :
laser ranging; mobile robots; optical scanners; path planning; Eulerian circuit; boundary coverage path planning; building interior modeling; indoor modeling; line scanning laser sensors; mobile robot; Indoor environments; Integrated circuit modeling; Mobile robots; Navigation; Path planning; Robot sensing systems; Boundary coverage path; Chinese postman problem; Eulerian circuit; Indoor modeling;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462986
