In applications such as vacuum cleaning, painting, demining and foraging, a mobile robot must cover an unknown surface. The efficiency and completeness of coverage is improved by the construction of a map while the robot covers the surface. Existing methods generally use grid maps, which are susceptible to odometry error and may require considerable memory and computation. We propose a new "slice decomposition" ideally suited to coverage by a simple zigzag path. Cell boundaries are large, easily detectable natural landmarks. Therefore, the decomposition is robust against uncertainty in sensors. It can also handle a wider variety of environments. The proposed method has been evaluated using simulation and real robot experiments. © Springer-Verlag Berlin Heidelberg 2004.
CITATION STYLE
Wong, S. C., & MacDonald, B. A. (2004). Complete coverage by mobile robots using slice decomposition based on natural landmarks. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 3157, pp. 683–692). Springer Verlag. https://doi.org/10.1007/978-3-540-28633-2_72
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