2A1-F01 Area Allocation for Cleaning Task using Multiple Robots

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概要

• 論文の詳細を見る

• In this paper, we consider the problem of cleaning task using multiple cleaning robots in large environment. For allocating the cleaning task to multiple cleaning robots in large environment, the cleaning task must be divided into several sub-tasks which are to clean divided areas, and these sub-tasks must be allocated to each cleaning robot. The divided areas are generated by Virtual Door Algorithm (VDA) which is suggested area partitioning algorithm. We also suggest the Area Allocation Algorithm (AAA), which is robust algorithm for the number of the cleaning robots, to allocate the non-allocated divided areas to allocated areas of each cleaning robot. In this paper, we verify the effectiveness of the proposed method using the computer simulation.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• CHOI Jeong

  ASRI, Department of Electrical Engineering, Seoul National University

• KIM Jimin

  ASRI, Department of Electrical Engineering, Seoul National University

• LEE Beom

  ASRI, Department of Electrical Engineering, Seoul National University

• LEE Jeong

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Jeong

  Asri Department Of Electrical Engineering Seoul National University

• Kim Jimin

  Asri Department Of Electrical Engineering Seoul National University

• Choi Jeong

  Asri Department Of Electrical Engineering Seoul National University

関連論文

• 2A1-F05 Collision Resolution of Robots Coexisting with Humans
• 2A1-F04 Discovering Vulnerable Areas for Multiple Security Robots
• 2A1-F01 Area Allocation for Cleaning Task using Multiple Robots
• 2A1-F03 Improved 3-D Underwater Terrain Covering for Multi-AUV
• 2A1-F02 3D Collision-free Motion Planning for Multi-AUV
• 1A1-E18 Dispersion Technique for Particle Diversity in FastSLAM

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