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Design of an Autonomous Effective Area Scanning Robot

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dc.contributor.authorKoroglu, Uygar
dc.contributor.authorIslamoglu, Usame
dc.contributor.authorUslu, Erkan
dc.contributor.authorCakmak, Furkan
dc.contributor.authorAltuntas, Nihal
dc.contributor.authorAmasyali, M. Fatih
dc.contributor.authorYavuz, Sirma
dc.date.accessioned2026-06-27T14:20:37Z
dc.date.issued2019
dc.description.abstractArea scanning can be defined as complete coverage of an area delimited either by natural or virtual borders, by a mobile robot. Area scanning has a wide spread usage from home cleaning vacuum clear for home users to minesweeping robot for military usage. Autonomous mobile robot design and software implementation for effective area scanning of an initially unknown area is realized with this work. Simultaneous localization and mapping (SLAM), area segmantation, complete coverage path planning (CCPP) algorithms are used for this purpose. Behavioural approach is implemented at the top level by means of SMACH based state machine for autonomous effective area scanning. Calculated orientation of the environment and previously visited areas are used for effective path planning. Software implementation is tested on a differantial drive, Robot Operating System (ROS) capable mobile platform.en
dc.identifier.endpage153
dc.identifier.isbn978-1-7281-2868-9
dc.identifier.startpage148
dc.identifier.urihttps://hdl.handle.net/20.500.14981/59486
dc.identifier.wos000631252400028
dc.language.isotur
dc.publisherIEEE
dc.relation.conferenceInnovations in Intelligent Systems and Applications Conference (ASYU)
dc.relation.ispartof2019 INNOVATIONS IN INTELLIGENT SYSTEMS AND APPLICATIONS CONFERENCE (ASYU)
dc.subjectROS
dc.subjectrobotics
dc.subjectautonomous
dc.subjectmobile robot
dc.subjectarea scanning
dc.subjectbehavioural approach
dc.subjectstate machine
dc.subjectSMACH
dc.subjectsimultaneous localization and mapping
dc.subjectSLAM
dc.subjectroom segmentation
dc.subjectcomplete coverage path planning
dc.subjectCCPP
dc.subjectComputer Science
dc.titleDesign of an Autonomous Effective Area Scanning Robot
dc.typeProceedings Paper
dspace.entity.typePublication
local.import.sourceWOS

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