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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/12207

Title: Scan Matching Online Cell Decomposition for Coverage Path Planning in an Unknown Environment
Authors: Dugarjav, Batsaikhan
Lee, Soon-Geul
Kim, Donghan
Kim, Jong Hyeong
Chong, Nak Young
Keywords: scan matching
path planning
coverage control
cell decomposition
mobile robot navigation
Issue Date: 2013-09-01
Publisher: Springer
Magazine name: International Journal of Precision Engineering and Manufacturing
Volume: 14
Number: 9
Start page: 1551
End page: 1558
DOI: 10.1007/s12541-013-0209-5
Abstract: This paper presents a novel sensor-based online coverage path-planning algorithm that guarantees the complete coverage of an unknown rectilinear workspace for the task of a mobile robot. The proposed algorithm divides the workspace of the robot into cells at each scan sample. This division can be classified as an exact cell decomposition method, which incrementally constructs cell decomposition while the robot covers an unknown workspace. To guarantee complete coverage, a closed map representation based on a feature extraction that consists of a set of line segments called critical edges is proposed. In this algorithm, cell boundaries are formed by extended critical edges, which are the sensed partial contours of walls and objects in the workspace. The robot uses a laser scanner to sense the critical edges. Sensor measurement is sampled twice in each cell. Scan matching is performed to merge map information between the reference scan and the current scan. At each scan sample, a two-direction oriented rectilinear decomposition is achieved in the workspace and presented by a closed map representation. The construction order of the cells is very important in this incremental cell decomposition algorithm. To choose the next target cell from candidate cells, the robot checks for redundancyin the planned path and for possible positions of the ending points of the current cell. The key point of the algorithm is memorizing the covered space to define the next target cell from possible cells. The path generation within the defined cell is determined to minimize the number of turns, which is the main factor in saving time during the coverage. Therefore, the cell’s long boundary should be chosen as the main path of the robot. This algorithm is verified by an experiment under the LABVIEW environment.
Rights: This is the author-created version of Springer, Batsaikhan Dugarjav, Soon-Geul Lee, Donghan Kim, Jong Hyeong Kim, Nak Young Chong, International Journal of Precision Engineering and Manufacturing, 14(9), 2013, 1551-1558. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s12541-013-0209-5
URI: http://hdl.handle.net/10119/12207
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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