Robust area coverage using hybrid control
2004 (English)Conference paper (Refereed)
Efficient coverage of an area by a mobile vehicle is a common challenge in many applications. Examples include automatic lawn mowers and vacuum cleaning robots. In this paper a vehicle with uncertain heading is studied. Five control strategies based on position measurements available only when the vehicle intersects the boundary of the area are compared. It is shown that the performance depends heavily on the heading error. The results are evaluated through extensive Monte Carlo simulations. An experimental implementation on a mobile robot is also presented.
Place, publisher, year, edition, pages
2004. 1-8 p.
IdentifiersURN: urn:nbn:se:kth:diva-84421OAI: oai:DiVA.org:kth-84421DiVA: diva2:499328
TELEC, Santiago de Cuba, Cuba
QC 201202212012-02-212012-02-132012-02-21Bibliographically approved