title: Constrained motion model of mobile robots and its applications.
abstract: Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of the k-step reachable region can be reduced from that of 2(k) reachable regions with the fixed motion styles to k + 1 such regions and provide an algorithm for its calculation. Based on the constrained motion model and the k -step reachable region, the problems associated with target detecting and dynamic coverage are formulated and solved. For target detecting, the k-step detectable region is used to describe the area that the robot may detect, and an algorithm for detecting a target and planning the optimal path is proposed. For dynamic coverage, the k-step detected region is used to represent the area that the robot has detected during its motion, and the dynamic-coverage strategy and algorithm are proposed. Simulation results demonstrate the efficiency of the coverage algorithm in both convex and concave environments.
authors.affiliation: Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China. feizhang@sjtu.edu.cn
authors.forename: Fei
authors.initials: F
authors.lastname: Zhang
authors.forename: Yugeng
authors.initials: Y
authors.lastname: Xi
authors.forename: Zongli
authors.initials: Z
authors.lastname: Lin
authors.forename: Weidong
authors.initials: W
authors.lastname: Chen