Region-wide Coverage Boundary Generation And Recognition Of The Autonomous Mobile Robot Beacon

In the paper, a new solution to the boundary set-up and identification of unmarked work area for mobile robot is proposed. Combined localization systems are used to establish the "digital map" of the boundary and also used to acquire the current position information of mobile robot to judge whether the boundary is reached during the course of working. According to the specialties of outdoor environment, the localization systems with combined sensors and the localization algorithm based on RBF neural network are designed. The strategy based on the environment features is also applied to eliminate the accumulated error of the localization systems. The results of simulation and experiments show that the real-time locating information is reliable to ensure the veracity of boundary identification. The research presented in the paper is valuable to the development of the region-coverage mobile robots.