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http://dx.doi.org/10.9708/jksci.2010.15.1.061

A Robot Coverage Algorithm Integrated with SLAM for Unknown Environments  

Park, Jung-Kyu (홍익대학교 컴퓨터공학과)
Jeon, Heung-Seok (건국대학교 컴퓨터응용과학부)
Noh, Sam-H. (홍익대학교 정보컴퓨터공학부)
Publication Information
Journal of the Korea Society of Computer and Information / v.15, no.1, 2010 , pp. 61-69 More about this Journal
Abstract
An autonomous robot must have a global workspace map in order to cover the complete workspace. However, most previous coverage algorithms assume that they have a grid workspace map that is to be covered before running the task. For this reason, most coverage algorithms can not be applied to complete coverage tasks in unknown environments. An autonomous robot has to build a workspace map by itself for complete coverage in unknown environments. Thus, we propose a new DmaxCoverage algorithm that allows a robot to carry out a complete coverage task in unknown environments. This algorithm integrates a SLAM algorithm for simultaneous workspace map building. Experimentally, we verify that DmaxCoverage algorithm is more efficient than previous algorithms.
Keywords
Coverage algorithm; Mobile robot; SLAM;
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