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W2126518770 abstract "Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of the k -step reachable region can be reduced from that of 2 k reachable regions with the fixed motion styles to k + 1 such regions and provide an algorithm for its calculation. Based on the constrained motion model and the k -step reachable region, the problems associated with target detecting and dynamic coverage are formulated and solved. For target detecting, the k -step detectable region is used to describe the area that the robot may detect, and an algorithm for detecting a target and planning the optimal path is proposed. For dynamic coverage, the k -step detected region is used to represent the area that the robot has detected during its motion, and the dynamic-coverage strategy and algorithm are proposed. Simulation results demonstrate the efficiency of the coverage algorithm in both convex and concave environments." @default.
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W2126518770 date "2009-06-01" @default.
W2126518770 modified "2023-10-16" @default.
W2126518770 title "Constrained Motion Model of Mobile Robots and Its Applications" @default.
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W2126518770 doi "https://doi.org/10.1109/tsmcb.2008.2009229" @default.
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