Title :
A smooth path generation approach for sensor-based coverage path planning
Author :
Yufka, Alpaslan ; Yazici, Ahmet ; Parlaktuna, Osman
Author_Institution :
Dept. of Electr. & Electron. Eng., Eskisehir Osmangazi Univ., Eskisehir, Turkey
Abstract :
In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is shown that the proposed approach smoothes the curves and robot easily turns the corners. As a result of this, the completion time of the coverage decreases.
Keywords :
C++ language; mobile robots; path planning; robot kinematics; sensors; C++ code; MobileSim simulation environment; P3-DX mobile robots; coverage path planning; open agent architecture; robot kinematics constraint; sensor-based coverage problem; smooth path generation approach; Decision support systems; Fiber reinforced plastics; Path planning;
Conference_Titel :
Electrical and Electronics Engineering, 2009. ELECO 2009. International Conference on
Conference_Location :
Bursa
Print_ISBN :
978-1-4244-5106-7
Electronic_ISBN :
978-9944-89-818-8
