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
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