제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제15권10호
  • /
  • Pages.1047-1055
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  • 2009
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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화방 정찰 체계에서의 다수의 이동 로봇을 위한 시간 효율적인 경로 계획 알고리즘에 대한 연구

Time-Efficient Trajectory Planning Algorithms for Multiple Mobile Robots in Nuclear/Chemical Reconnaissance System

  • 발행 : 2009.10.01
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초록

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

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