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Updated: Jun 24, 2026
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Constrained motion model of mobile robots and its applications
Fei Zhang1, Yugeng Xi, Zongli Lin
1Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China. feizhang@sjtu.edu.cn
Summary
This study introduces efficient algorithms for mobile robot target detection and dynamic coverage. The methods optimize path planning and area exploration, enhancing robot mobility and perceptivity in various environments.
Area of Science:
- Robotics
- Artificial Intelligence
- Computer Science
Background:
- Mobile robots require effective strategies for target detection and dynamic coverage.
- Mobility and perceptivity are key features influencing robot task performance.
Purpose of the Study:
- To develop novel algorithms for target detection and dynamic coverage in mobile robotics.
- To enhance the efficiency of mobile robot operations through optimized path planning and area exploration.
Main Methods:
- Establishment of constrained motion and sensor models for mobile robots.
- Definition and efficient calculation of the k-step reachable region.
- Formulation and solution of target detecting and dynamic coverage problems using k-step detectable and detected regions.
Main Results:
- A reduced computational approach for calculating the k-step reachable region (k+1 regions instead of 2^k).
- Proposed algorithms for optimal target detection path planning.
- Developed a dynamic-coverage strategy and algorithm demonstrating efficiency in simulations.
Conclusions:
- The proposed methods significantly improve mobile robot capabilities in target detection and dynamic coverage.
- The algorithms are efficient and effective in both convex and concave environments, validating their practical applicability.
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