Egress: An online path planning algorithm for boundary exploration

K. R. Guruprasad, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

We consider the problem of navigating a mobile robot that is located at any arbitrary point within a bounded environment, to a point on the environment's outer boundary and then, using the robot to explore the perimeter of the boundary. The environment can have obstacles in it and the location and size of these obstacles are not provided a priori to the robot. We present an online path planning algorithm to solve this problem that requires very simple behaviors and computation on the robot. We analytically prove that by using our algorithm, the robot is guaranteed to reach and explore the outer boundary of the environment within a finite time.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3991-3996
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Guruprasad, K. R., & Dasgupta, P. (2012). Egress: An online path planning algorithm for boundary exploration. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3991-3996). [6225182] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225182