Egress: An online path planning algorithm for boundary exploration

K. R. Guruprasad; Prithviraj Dasgupta

doi:10.1109/ICRA.2012.6225182

Egress: An online path planning algorithm for boundary exploration

K. R. Guruprasad, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3991-3996
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225182
State	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

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

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6225182

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). Article 6225182 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225182

Egress: An online path planning algorithm for boundary exploration. / Guruprasad, K. R.; Dasgupta, Prithviraj.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3991-3996 6225182 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Guruprasad, KR & Dasgupta, P 2012, Egress: An online path planning algorithm for boundary exploration. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225182, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3991-3996, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6225182

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AB - 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.

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ER -

Egress: An online path planning algorithm for boundary exploration

Abstract

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