지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 730 - 735 (6page)
이용수
초록· 키워드
오류제보하기
This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning tree is considered to get minimum distance of moving path. The exhaustive coverage path is obtained by combining coverage path and moving path. Fourth, a controller is designed for a two-wheeled robot to track the exhaustive coverage path generated by path planning method. Finally, simulation and experimental results can prove efficiency of the proposed exhaustive coverage path planning method.
목차
Abstract
1. INTRODUCTION
2. MINING SYSTEM DESCRIPTION
3. EXHAUSTIVE PATH PLANNING
4. SYSTEM MODELLING AND CONTROLLER DESIGN
5. SIMULATION AND EXPERIMENTAL RESULTS
6. CONCLUSIONS
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0