The KIPS Transactions:PartA (정보처리학회논문지A)

Korea Information Processing Society (한국정보처리학회)
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An Efficient Coverage Algorithm for Intelligent Robots with Deadline

데드라인을 고려하는 효율적인 지능형 로봇 커버리지 알고리즘

  • 전흥석 (건국대학교 컴퓨터소프트웨어) ;
  • 정은진 (아이오와 대학교 컴퓨터과학과) ;
  • 강현규 (건국대학교 컴퓨터소프트웨어) ;
  • 노삼혁 (홍익대학교 컴퓨터공학과)
  • Published : 2009.02.28
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Abstract

This paper proposes a new coverage algorithm for intelligent robot. Many algorithms for improving the performance of coverage have been focused on minimizing the total coverage completion time. However, if one does not have enough time to finish the whole coverage, the optimal path could be different. To tackle this problem, we propose a new coverage algorithm, which we call MaxCoverage algorithm, for covering maximal area within the deadline. The MaxCoverage algorithm decides the navigation flow by greedy algorithm for Set Covering Problem. The experimental results show that the MaxCoverage algorithm performs better than other algorithms for random deadlines.

이 논문은 지능형 로봇을 위한 새로운 커버리지 알고리즘을 제안한다. 커버리지 알고리즘의 성능을 향상하기 위한 많은 연구들은 전체 커버리지 완료 시간을 최소화하는데 초점을 맞추어왔다. 그러나, 만일 전체 커버리지를 완료하기에 충분한 시간이 없다면, 최적의 경로는 달라질 수 있다. 이러한 문제를 해결하기 위하여 본 논문에서는 MaxCoverage라고 하는 데드라인이 있을 경우에 가능한 많은 면적을 커버하기 위한 새로운 커버리지 알고리즘을 제안한다. MaxCoverage 알고리즘은 이동 경로를 셋 커버 문제를 위한 그리디 알고리즘을 이용하여 결정한다. 실험 결과에 의하면 MaxCoverage 알고리즘은 임의의 데드라인에 대하여 다른 알고리즘들에 비해 향상된 성능을 보여준다.

Keywords

References

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