Abstract
Although sensor-based coverage is a skill which is applicable to a variety of robot tasks, its implementation has so far been limited, mostly by the physical limitations of traditional mobile robots. This paper presents sensor-based coverage algorithms both for a single robot and for a team of independent robots which have been designed to allow for easy integration on to real robots. The specific robots in question are planar robots called couriers, components of the minifactory, an automated assembly system. The couriers have excellent position sensing, which enables them to perform coverage, but have no explicit range or contact sensors to detect boundaries, which adds to the complexity of the coverage algorithm. A set of experiments from simulation is presented to show the overall efficiency of the single-robot and cooperative coverage processes in a variety of environments. A second set of experiments performed on a real robot demonstrates the ability to reliably perform sensor-based coverage and also illuminates the effects of specific choices in the type of control used.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
A. Pirzadeh and W. Snyder, “A unified solution to coverage and search in explored and unexplored terrains using indirect control,” in Proc. of IEEE Int’l. Conf. on Robotics and Automation, pp. 2113–2119, April 1990.
S. Hert, S. Tiwari, and V. Lumelsky, “A terrain covering algorithm for an AUV,” Autonomous Robots, vol. 3, pp. 91–119, 1996.
I. A. Wagner, M. Lindenbaum, and A. M. Bruckstein, “MAC versus PC: Determinism and randomness as complementary approaches to robotic exploration of continuous domains,” Int’l Journal of Robotics Research, vol. 19, pp. 12–31, January 2000.
E. Acar and H. Choset, “Critical point sensing in unknown environments for mapping,” in Proc. of IEEE Int’l Conf. on Robotics and Automation, April 2000.
Friendly Robotics, “RoboSim: RL500 simulator.” Available at http://www.friendlyrobotics.com/sim/RoboSim.exe.
R. L. Hollis and J. Gowdy, “Miniature factories for precision assembly,” in Int’l Workshop on Microfactories, (Tsukuba, Japan), pp. 9–14, 1998.
Z. J. Butler, A. A. Rizzi, and R. L. Hollis, “Integrated precision 3-DOF position sensor for planar linear motors,” in Proc. of IEEE Int’l. Conf. on Robotics and Automation, May 1998.
Z. J. Butler, Distributed Coverage of Rectilinear Environments. PhD thesis, Carnegie Mellon, September 2000.
Z. J. Butler, A. A. Rizzi, and R. L. Hollis, “Distributed coverage of rectilinear environments,” in Proc. of the Workshop on the Algorithmic Foundations of Robotics, (Hanover, NH), March 2000.
A. Quaid, A Planar Robot for High-Performance Manipulation. PhD thesis, Carnegie Mellon, July 2000.
Friendly Robotics, RL500 Owner Operating Manual. Available at http://www.friendlyrobotics.com/um/RL500_manual.pdf.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Butler, Z.J., Rizzi, A.A., Hollis, R.L. (2001). Simulation and Experimental Evaluation of Complete Sensor-based Coverage in Rectilinear Environments. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_42
Download citation
DOI: https://doi.org/10.1007/3-540-45118-8_42
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-42104-7
Online ISBN: 978-3-540-45118-1
eBook Packages: Springer Book Archive