Optimal Coverage and Path Planning of Indoor Service Robots

The proposed project will study some essential tasks regarding motion planning of autonomous indoor service robots, focusing particularly on reliable coverage-planning of arbitrary and irregular-shaped indoor regions. The tools to be used in devising solutions for these problems include geometric and graph theoretical optimal path planning algorithms, various sensor data fusion techniques, and artificial intelligence and machine learning approaches. The goal is to produce methodologies and algorithms as solutions to these robot motion planning problems and to apply these solutions to provide reliable autonomous motion of Avidbots robots cleaning semi-structured indoor areas, with precise on-line monitoring, maximal area and quality of the cleaning, guaranteed collision avoidance, without requiring frequent calibration and fine-tuning.

Faculty Supervisor:

Baris Fidan;Stephen Smith

Student:

Partner:

Avidbots

Discipline:

Engineering

Sector:

Professional, scientific and technical services

University:

University of Waterloo

Program: