BSA: A complete coverage algorithm

Enrique González, Oscar Álvarez, Yul Díaz, Carlos Parra, Cesar Bustacara

Producción: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

141 Citas (Scopus)

Resumen

The Backtracking Spiral Algorithm (BSA) is a coverage strategy for mobile robots based on the use of spiral filling paths; in order to assure the completeness, unvisited regions are marked and covered by backtracking mechanism. The BSA basic algorithm is designed to work in an environment modeled by a coarse-grain grid. BSA has been extended to cover, not only the free cells, but also the partially occupied ones. In this paper, the concepts and algorithms used to extend BSA are introduced. The ideas used to extend BSA are generic, thus a similar approach can be used to extend most of the grid-based coverage algorithms. Finally, some simulation results that demonstrate that BSA performs a complete coverage are presented.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2005 IEEE International Conference on Robotics and Automation
Páginas2040-2044
Número de páginas5
DOI
EstadoPublicada - 2005
Evento2005 IEEE International Conference on Robotics and Automation - Barcelona, Espana
Duración: 18 abr. 200522 abr. 2005

Serie de la publicación

NombreProceedings - IEEE International Conference on Robotics and Automation
Volumen2005
ISSN (versión impresa)1050-4729

Conferencia

Conferencia2005 IEEE International Conference on Robotics and Automation
País/TerritorioEspana
CiudadBarcelona
Período18/04/0522/04/05

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