PATH PLANNING AND GUIDANCE TECHNIQUES FOR AN AUTONOMOUS MOBILE CLEANING ROBOT

被引：81

作者：

HOFNER, C ^{[1
]}

SCHMIDT, G ^{[1
]}

机构：

[1] TECH UNIV MUNICH,DEPT AUTOMAT CONTROL ENGN LSR,D-80290 MUNICH,GERMANY

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1995年 / 14卷 / 2-3期

关键词：

AUTOMATIC CLEANING PATH PLANNER; LONG DISTANCE PATH TRACKING CONTROL; AUTOMATIC SENSOR APPLICATION PLANNER; CLEANING PATH ADAPTATION;

D O I：

10.1016/0921-8890(94)00034-Y

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the past mobile robot research was often focused to various kinds of point-to-point transportation tasks. Service tasks, such as floor cleaning, require specific approaches for path planning and vehicle guidance in real indoor environments. This article discusses automatic planning of a feasible cleaning path considering a 2D-map as well as kinematic and geometric robot models. Path construction makes use of two typical motion patterns. Each pattern is defined by a sequence of subgoals indicating robot position and orientation. Results of automatic path planning are illustrated by realistic examples of typical robots and cleaning environments. Vehicle guidance includes initialization of robot location, path execution, accurate path tracking and detection of unexpected environmental changes. Path tracking is achieved by subgoal modification during cleaning motion using data from the dead-reckoning and landmark localization systems. If obstacles permanently block the preplanned path, an automatic map update and path replanning is performed. Experimental results with the mobile robot MACROBE confirm the feasibility of the developed planning and guidance system.

引用

页码：199 / 212

页数：14

共 13 条

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