2P1-I10 掃引動作アルゴリズムにおける基本動作と掃引効率について(ホーム&オフィスロボット)

概要

論文の詳細を見る
Sweeping task means motions that a mobile robot covers a 2-dimention area by its motion. Sweeping algorithms have two categories; one is model-based algorithm and another is reaction-based algorithm. When the robot doesn't have any maps of its workspace, sweeping task must be done by reaction-based algorithm which typically includes some motion primitives. Motion primitives basically consist of sweeping motion and travelling motion. As the sweeping motions, parallel and spiral motions are often used. Following motion and reflection motion for wall are also often used as the travelling motion. This paper investigates a sweeping efficiency using such motion primitives. In simulations, workspaces are modeled by many examples of real rooms.
一般社団法人日本機械学会の論文
2008-06-06