Path Planning for Robotic Demining and Development of a Test Platform
Conference Paper, Proceedings of 3rd International Conference on Field and Service Robotics (FSR '01), pp. 161 - 168, July, 2001
Abstract
This paper overviews path planning methods, systematic versus probabilistic for robotic demining, and a robot development project. We outline a complete sensor-based coverage algorithm that uses an exact cellular decomposition method. To decrease coverage duration, we introduce a probabilistic method that takes advantage of a priori known mine patterns. Then, we give a comparison of random versus coordinated coverage. Finally, we present a summary of the development of the mobile test platform.
BibTeX
@conference{Acar-2001-16817,author = {Ercan Acar and Yangang Zhang and Howie Choset and Mark Schervish and Albert Costa and Renata Melamud and David Lean and Amy Graveline},
title = {Path Planning for Robotic Demining and Development of a Test Platform},
booktitle = {Proceedings of 3rd International Conference on Field and Service Robotics (FSR '01)},
year = {2001},
month = {July},
pages = {161 - 168},
}
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