NDLI: Path tracking control coverage of a mining robot based on exhaustive path planning with exact cell decomposition

Content Provider	IEEE Xplore Digital Library
Author	Dae Hwan Kim Giang Hoang Min-Ji Bae Jin Wook Kim Suk Min Yoon Tae-Kyeong Yeo Hong Sup Sang-Bong Kim
Copyright Year	2014
Description	Author affiliation: Technol. Center for Offshore Plant Ind., Korea Inst. of Ships & Ocean Eng., Daejeon, South Korea (Suk Min Yoon; Tae-Kyeong Yeo; Hong Sup) \|\| Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Busan, South Korea (Dae Hwan Kim; Giang Hoang; Min-Ji Bae; Jin Wook Kim; Sang-Bong Kim)
Abstract	This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning tree is considered to get minimum distance of moving path. The exhaustive coverage path is obtained by combining coverage path and moving path. Fourth, a controller is designed for a two-wheeled robot to track the exhaustive coverage path generated by path planning method. Finally, simulation and experimental results can prove efficiency of the proposed exhaustive coverage path planning method.
Starting Page	730
Ending Page	735
File Size	2214462
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987875
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Industries Backstepping control Cell decomposition Exhaustive path Coverage path planning Spanning tree US Department of Transportation Planning Discrete cosine transforms Manganese Two-wheeled robot
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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