The Transactions of the Korean Institute of Electrical Engineers A (대한전기학회논문지:전력기술부문A)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Sweeping Algorithm for an Autonomous Mobile Robot under the Unknown Environment

미지 환경에서의 자율주행 로봇의 청소 알고리즘

  • Park, Ju-Yong (Dept.of Computer Engineering, Yeungnam University) ;
  • Lee, Gi-Dong (Dept.of Computer Engineering, Yeungnam University)
  • 박주용 (영남대 공대 컴퓨터공학과) ;
  • 이기동 (영남대 공대 컴퓨터공학과)
  • Published : 1999.01.01
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Abstract

There has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot is concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance index. In this study, we newly present a sweeping algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. And we verify the validity the validity of the formalized algorithm by computer simulation with the changing environment conditions. In addition to this, we analyse the effect of real system implementation of the proposed algorithm to a experimental miniature mobile robit(Khepera).

Keywords

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