Improved Coverage Path Planning Using a Virtual Sensor Footprint: a Case Study on Demining (original) (raw)

2019 International Conference on Robotics and Automation (ICRA)

Abstract

Coverage performance in a coverage path planning problem depends both on the path created and on the footprint of the sensor used. The footprint can be increased either by increasing the size of the sensor, or by mounting the sensor on a robotic arm to allow scanning over larger areas as the platform moves, effectively creating a virtual sensor with a larger footprint than the physical sensor’s. However, the virtual footprint comes at a cost requiring formulating an optimization problem for the area of interest. In this work, three common strategies to use a metal detector on a platform are discussed, their time and energy performances are formulated and the corresponding optima are found.

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