DocumentCode :
671665
Title :
A robot on-line area coverage approach based on the probabilistic Lloyd method
Author :
Rehder Batista, Murillo ; Calvo, Rodrigo ; Ap Francelin Romero, Roseli
Author_Institution :
Dept. of Comput. Sci., Univ. of Sao Paulo, Sao Carlos, Brazil
fYear :
2013
fDate :
4-9 Aug. 2013
Firstpage :
1
Lastpage :
8
Abstract :
Area Coverage is a standard problem in which Robotics techniques can be applied. An approach to solve this problem is through techniques based on Centroidal Voronoi Tesselations (CVT), considering that each robot is a generator used to build Voronoi polygons. In this work, a new approach named by Sample Lloyd Area Coverage System (SLACS), is proposed that does not need of the explicit building of the diagram based in the Probabilistic Lloyd method to estimate a Voronoi polygon´s centroid. In addition, it is proposed a method to close Voronoi diagrams to apply in a classic Lloyd CVT procedure. Both approaches are compared in empty and roomlike environments done in simulated tests using both Player interface and Stage simulator. Results obtained show that the proposed approach is well suited to solve the area coverage problem via mobile sensor deployment and it is a simple and effective substitute to a Lloyd CVT method.
Keywords :
computational geometry; mobile robots; probability; sensors; CVT; SLACS; Voronoi polygon centroid estimation; Voronoi polygons; centroidal Voronoi tesselations; mobile sensor deployment; player interface; probabilistic Lloyd method; robot online area coverage approach; robotics techniques; sample Lloyd area coverage system; stage simulator; Collision avoidance; Dispersion; Generators; Probabilistic logic; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Neural Networks (IJCNN), The 2013 International Joint Conference on
Conference_Location :
Dallas, TX
ISSN :
2161-4393
Print_ISBN :
978-1-4673-6128-6
Type :
conf
DOI :
10.1109/IJCNN.2013.6707007
Filename :
6707007
Link To Document :
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