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Speeding Up On-Line Route Scheduling for an Autonomous Robot Through Pre-Built Paths
Published online by Cambridge University Press: 14 July 2020
Summary
Today, robots can be found helping humans with their daily tasks. Some tasks require the robot to visit a set of locations in the environment efficiently, like in the Traveling Salesman Problem. As indoor environments are maze-like areas, feasible paths connecting locations must be computed beforehand, so they can be combined during the scheduling, which can be impracticable for real-time applications. This work presents an on-line Route Scheduling supported by a Fast Path Planning Method able to adjust pre-built paths. Experiments were carried out with virtual and real robots to evaluate time and quality of tours.
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- Research Article
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- © The Author(s), 2020. Published by Cambridge University Press
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