대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 1998년도 추계종합학술대회 논문집
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- Pages.417-420
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- 1998
A heuristic Sweeping Algorithm for Autonomous Smearing Robot
초록
A heuristic sweeping algorithm for an autonomous smearing robot which executes the area filling task is proposed. This algorithm searches tracking points with the obstacle andenvironment wall while the robot tracking whole workspace, and finds sequential tracking line by sequentally connecting the tracking points in such a way that (1) the line should be never crossed, (2) the total tracking points should be is linked as short as possible, and (3) the tracking link should be cross over the obstacle in the work-space. If the line pass through the obstacle, hierarchical collision free algorithm proposed is implied. The proposed algorithm consists of (1) collision detection procedure, (2) obstacle map making procedures, (3) tracking points generation procedures for subgosls, (4) tracking points scanning procedures, and (5) obstacle avoidance procedure.
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