Path Planning for Robotic Demining and Development of a Test Platform

Ercan Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert Costa, Renata Melamud, David Lean, and Amy Graveline
Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.


Download
  • Adobe portable document format (pdf) (437KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper overviews path planning methods, systematic versus probabilistic for robotic demining, and a robot development project. We outline a complete sensor-based coverage algorithm that uses an exact cellular decomposition method. To decrease coverage duration, we introduce a probabilistic method that takes advantage of a priori known mine patterns. Then, we give a comparison of random versus coordinated coverage. Finally, we present a summary of the development of the mobile test platform.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Robotic Demining
Number of pages: 8

Text Reference
Ercan Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert Costa, Renata Melamud, David Lean, and Amy Graveline, "Path Planning for Robotic Demining and Development of a Test Platform," Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.

BibTeX Reference
@inproceedings{Acar_2001_4454,
   author = "Ercan Acar and Yangang Zhang and Howie Choset and Mark Schervish and Albert Costa and Renata Melamud and David Lean and Amy Graveline",
   title = "Path Planning for Robotic Demining and Development of a Test Platform",
   booktitle = "Proceedings of the 2001 International Conference on Field and Service Robotics",
   pages = "161 - 168",
   year = "2001",
}