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Dae Hwan Kim,Giang Hoang,Min-Ji Bae,Jin Wook Kim,Suk Min Yoon,Tae-Kyeong Yeo,Hong Sup,Sang-Bong Kim 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning tree is considered to get minimum distance of moving path. The exhaustive coverage path is obtained by combining coverage path and moving path. Fourth, a controller is designed for a two-wheeled robot to track the exhaustive coverage path generated by path planning method. Finally, simulation and experimental results can prove efficiency of the proposed exhaustive coverage path planning method.
Finding efficient paths for multi-robot path coverage
Hyeun Jeong Min 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This work presents a solution to find an efficient set of paths in order to cover all locations for a robotic search and rescue mission. Assuming that a set of locations with their available robotic paths are given, our problem is to find multiple paths for robots including their start locations and corresponding paths. Our algorithm is based upon all-pairs shortest paths, since shortest paths among all nodes are guaranteed for the optimized solution; however, combinatorial choice among them is not trivial. Our algorithmis heuristic, combining paths according to how small each path cost is and how rare the connectivity of nodes is. For comparison, we also present a method of decomposing paths from a minimum spanning tree. Through the experiments in simulation, we have demonstrated that our shortest-based algorithm finds a set of efficient paths in which the maximum path cost is smaller than the one chosen by related algorithms, a nearest neighbor and a minimum spanning tree.
A Time Synchronized Multi-robot Coverage Algorithm for Unstructured Environment
Tae-Shin Kim,Young-Ho Lee,Jong-Koo Park,Tae-Yong Kuc,Sang-Hoon Ji,Sang-Moo Lee,Yong-Sun Moon 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper considers a design problem for time synchronized coverage control of cooperative mobile robots. The derived algorithm provides a coverage control which not only considers the mobility characteristic of each mobile robot for task allocation but generates robot velocity profile for synchronized coverage completion within the constrained time. Since the environment for robot coverage work is modeled as a set of locations to visit by robots, the derived coverage algorithm and its control method are equally well suited to an unstructured working environment as to the structured work space. In determining the number of locations for each robot to visit during coverage operation, a time index derived from the minimum time velocity profile is used for the comparison of robot performance. Once the set of locations has been determined for each robot, the corresponding path tree and velocity profile are generated for synchronized execution of coverage work. The completeness of synchronized group coverage within the constrained time is proven through simulation for a group of mobile robots with different motor characteristics. An additional consideration by the derived coverage controller is collision avoidance of mobile robots in a crowded environment with the aid of finite potential function approach.
군집로봇의 청소 작업을 위한 행동제어 시간 동기화 기반 협력 커버리지 알고리즘
김태신(Tae-Shin Kim),국태용(Tae-YongKuc),박종구(Jong-GuPark),지상훈(Sang-HoonJi),문용선(Yong-Sun Moon),이상무(Sang-Moo Lee),조영조(Young-JoJo) 대한전기학회 2013 정보 및 제어 심포지엄 논문집 Vol.2013 No.10
본 논문에서는 비구조화 동적 환경의 이종 군집로봇 협력 작업에 적용할 수 있는 새로운 군집로봇의 충돌회피 및 시간동기화 커버리지 제어 알고리즘과 제어, 그 구현 시스템을 제안한다. 제안된 알고리즘은 협력작업에 참여하는 이종의 군집로봇의 성능차를 고려한 작업분배와 경로 트리의 할당을 통하여 공동작업의 시간 동기화를 달성하며 구조화되지 않은 환경의 커버리지가 가능하다. 또한 작업 중 커버리지 영역내 이동과 고정 또는 이동 장애물의 회피를 위한 속도계획 및 충돌회피 제어를 달성하도록 하는 제어계를 설계하고 구현함으로써 효율적인 커버리지 작업이 가능하도록 한다.
군집로봇의 청소 작업을 위한 행동제어 시간 동기화 기반 협력 커버리지 알고리즘
김태신(Tae-Shin Kim),국태용(Tae-YongKuc),박종구(Jong-GuPark),지상훈(Sang-HoonJi),문용선(Yong-Sun Moon),이상무(Sang-Moo Lee),조영조(Young-JoJo) 대한전기학회 2013 대한전기학회 학술대회 논문집 Vol.2013 No.10
본 논문에서는 비구조화 동적 환경의 이종 군집로봇 협력 작업에 적용할 수 있는 새로운 군집로봇의 충돌회피 및 시간동기화 커버리지 제어 알고리즘과 제어, 그 구현 시스템을 제안한다. 제안된 알고리즘은 협력작업에 참여하는 이종의 군집로봇의 성능차를 고려한 작업분배와 경로 트리의 할당을 통하여 공동작업의 시간 동기화를 달성하며 구조화되지 않은 환경의 커버리지가 가능하다. 또한 작업 중 커버리지 영역내 이동과 고정 또는 이동 장애물의 회피를 위한 속도계획 및 충돌회피 제어를 달성하도록 하는 제어계를 설계하고 구현함으로써 효율적인 커버리지 작업이 가능하도록 한다.