Coverage path planning for mobile robot with distance sensor

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Gincsainé Dr. Szádeczky-Kardoss Emese
Department of Control Engineering and Information Technology

In these days mobile robots are being used in many fields of life. In hospitals food and medicine, while in factories goods are being transferred. The robot’s ability to cover fields are being used in houses as vacuum cleaners and lawn mowers,but also can be used in space exploration. It’s also being used in projects, races (like in robot soccer and line following robots).

In the first chapter I am going to introduce the problems of mobile robot coverage, including their common structure and robot coverage algorithms from literatures.

In the second chapter I talk about a simulation program’s structure, operation, and functions which is based on a differential robot. Also I talk about the image processing functions, that was being used.

One of the most simplest coverage algorithm is the zig-zag, where the robot moves with ninety degree rotations and going in a straight line, making an S shape while moving. The improved version requires wall following, which needs the knowledge of the wall’s angle. The wall’s angle was calculated with the help of an Arduino and a HC-SR04 ultrasonic transducer, but the way the ultrasonic transducer works, my calculation method doesn’t work for all the cases.

In the fourth chapter I am trying to implement my simulation into reality. For my help I used a mobile robot named DaNI made by National Instruments and was given by my department. My work was programmed in LabVIEW using my simulation’s logic. I implemented basic functions, a map which shows the robot’s movement in the field from above where the robot is a dot.

Switching to reality from the simulation made me realize new problems, not having before, because the simulation is idealistic. This causes that the moves done by the DaNI has differences compared to the simulation’s moves .


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