Dynamic Route Planning for Area Processing Autonomous Robots

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 7Sprache: EnglischTyp: PDF

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Weisenboehler, Moritz; Wurll, Christian (Hochschule Karlsruhe, University of Applied Sciences, Karlsruhe, Germany)

The effectivity of robotic surface processing (sweeping) with randomized procedures can be highly improved procedures by planning effective motion paths for the robot. In this paper we introduce a heuristic planning approach at the example of robotic lawn mowers. The resulting planning software Aria enables route calculations within seconds for areas up to 2000 m2. It uses a four-part planning process to determine and optimize collision-free motion paths under consideration of robot specific motion characteristics.