Path Planning for Complete and Efficient Coverage Operation of Mobile Robots

This paper presents a complete and efficient coverage path planning method for mobile robots. Its applications include robots for de-mining, cleaning, painting and so on. When a mobile robot performs area coverage task, completeness and efficiency of coverage are important factors. To achieve comple...

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Veröffentlicht in:2007 International Conference on Mechatronics and Automation S. 2126 - 2131
Hauptverfasser: Jung Won Kang, Si Jong Kim, Myung Jin Chung, Hyun Myung, Jun Ho Park, Seok Won Bang
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.08.2007
Schlagworte:
Cell decomposition
Cleaning
Complete coverage algorithm
Laboratories
Mechatronics
Mobile robots
Optimal coverage algorithm
Optimization methods
Path planning
Robot motion
Robotics and automation
Topology
ISBN:9781424408276, 142440827X
ISSN:2152-7431
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Beschreibung
Zusammenfassung:This paper presents a complete and efficient coverage path planning method for mobile robots. Its applications include robots for de-mining, cleaning, painting and so on. When a mobile robot performs area coverage task, completeness and efficiency of coverage are important factors. To achieve completeness easily, we adopt a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. To achieve efficiency, each cell is covered by a robot motion that requires minimum time to cover the cell. The effectiveness of the method is verified using simulations.
ISBN:9781424408276
142440827X
ISSN:2152-7431
DOI:10.1109/ICMA.2007.4303880