EFFICIENT SENSOR-BASED PATH PLANNING FOR LANDMINE LOCATION USING WALKING ROBOTS

In robotic demining, the robot relies on a path-planner capable of generating trajectories to search for all the mines while avoiding obstacles whose locations are unknown. Several families of coverage algorithms exist but there is only one that guarantees complete coverage, the exact cellular decomposition family. This paper details the modifications performed to a cellular decomposition method for unstructured environments for its application to walking robots. Experiments show preliminary results and improvements to the method are proposed.