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Full-Text Articles in Engineering
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Faculty & Staff Scholarship
Exploration and remote sensing with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This paper presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While we also propose a generalized algorithm that can be used with several exploration strategies, our implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in …
Exploration Of Unknown Environments Using A Tethered Mobile Robot, Danylo Shapovalov
Exploration Of Unknown Environments Using A Tethered Mobile Robot, Danylo Shapovalov
Graduate Theses, Dissertations, and Problem Reports
Exploration with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This thesis presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While a generalized algorithm that can be used with several exploration strategies is also proposed, the presented implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in the frontier …