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Robust area coverage using hybrid control
KTH, Superseded Departments, Signals, Sensors and Systems.ORCID iD: 0000-0001-9940-5929
2004 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-84421OAI: oai:DiVA.org:kth-84421DiVA: diva2:499328
Conference
TELEC, Santiago de Cuba, Cuba
Note
QC 20120221Available from: 2012-02-21 Created: 2012-02-13 Last updated: 2012-02-21Bibliographically approved

Open Access in DiVA

hybrid_telec04(183 kB)66 downloads
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File name FULLTEXT01.pdfFile size 183 kBChecksum SHA-512
69c608ef734e393620a99193551a42c22970d7728d2309b1c65ebb98ae3da4f0ec918bd95865042aaa5687b2c7a117024344a98f4074b5108a4da0c50394fac6
Type fulltextMimetype application/pdf

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