This article considers autonomous scanning (coverage) control of a two-dimensional (2D) surface embedded in 3D environments. The author uses a robot with rigidly mounted range sensors. The robot can measure its depth (height for aerial robot) and has narrow aperture rays near the central ray which is normal to the longitudinal axis of the robot. The goal of the robot is to scan (cover) a 2D surface embedded in 3D environments within a given range of depths. To achieve robust scanning performance in 3D environments, this article presents sliding mode controllers as well as switching controllers. According to the author's knowledge, this article is unique in developing 3D reactive scanning controllers considering a robot equipped with narrow aperture rays near the central ray. Extensive simulation results are utilised to demonstrate the effectiveness of the proposed controllers.

中文翻译：

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利用带有牢固安装的距离传感器的机器人进行3D反应表面扫描

本文考虑了嵌入3D环境中的二维（2D）曲面的自主扫描（覆盖）控制。作者使用带有牢固安装的距离传感器的机器人。机器人可以测量其深度（空中机器人的高度），并且在垂直于机器人纵轴的中心射线附近具有狭窄的孔径射线。机器人的目标是在给定深度范围内扫描（覆盖）嵌入3D环境中的2D表面。为了在3D环境中实现强大的扫描性能，本文介绍了滑模控制器和开关控制器。根据作者的知识，考虑到机器人在中心射线附近配备了窄孔径射线，本文在开发3D反应扫描控制器方面是独一无二的。