Path planning for complete and efficient coverage operation of mobile robots

被引：25
|
作者：
Kang, Jung Won [1 ]
Kim, Si Jong [1 ]
Chung, Myung Jin [1 ]
Myung, Hyun [2 ]
Park, Jun Ho [2 ]
Bang, Seok Won [2 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea
[2] Samsung Adv Inst Technol, Micro Syst Lab, Suwon 449712, South Korea
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
complete coverage algorithm; optimal coverage algorithm; cell decomposition;
D O I：
10.1109/ICMA.2007.4303880
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2126 / +
页数：2
相关论文
共 50 条
  • [1] On the Complete Coverage Path Planning for Mobile Robots
    Hsu, Ping-Min
    Lin, Chun-Liang
    Yang, Meng-Yao
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2014, 74 (3-4) : 945 - 963
  • [2] On the Complete Coverage Path Planning for Mobile Robots
    Ping-Min Hsu
    Chun-Liang Lin
    Meng-Yao Yang
    Journal of Intelligent & Robotic Systems, 2014, 74 : 945 - 963
  • [3] Complete coverage path planning of mobile robots for humanitarian demining
    Dakulovic, Marija
    Petrovic, Ivan
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2012, 39 (05): : 484 - 493
  • [4] An Energy Efficient Coverage Path Planning Approach for Mobile Robots
    Khan, Amna
    Noreen, Iram
    Habib, Zulfiqar
    INTELLIGENT COMPUTING, VOL 2, 2019, 857 : 387 - 397
  • [5] Complete coverage path planning method for mobile robots in uncertain dynamic environments
    Research Institute of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
    不详
    不详
    Jiqiren, 2006, 6 (586-592):
  • [6] Complete coverage path planning for wheeled agricultural robots
    Arab, Danial Pour
    Spisser, Matthias
    Essert, Caroline
    JOURNAL OF FIELD ROBOTICS, 2023, 40 (06) : 1460 - 1503
  • [7] Complete coverage path planning and guidance for cleaning robots
    de Carvalho, RN
    Vidal, HA
    Vieira, P
    Ribeiro, MI
    ISIE '97 - PROCEEDINGS OF THE IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-3, 1997, : 677 - 682
  • [8] An Efficient Path Planning Algorithm for Mobile Robots
    Zeng, Zheng
    Sun, Wei
    Wu, Wei
    Xue, Min
    Qian, Lin
    2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2019, : 487 - 493
  • [9] On Complete Coverage Path Planning Algorithms for Non-holonomic Mobile Robots: Survey and Challenges
    Khan, Amna
    Noreen, Tram
    Habib, Zulfiqar
    JOURNAL OF INFORMATION SCIENCE AND ENGINEERING, 2017, 33 (01) : 101 - 121
  • [10] A method for complete coverage path planning of mobile robot
    Wang, Jian
    Chen, Weidong
    Zhao, Heming
    Jisuanji Gongcheng/Computer Engineering, 2005, 31 (22): : 162 - 163
12345