Robot Coverage Path Planning Based on Iterative Structured Orientation

被引：15

作者：

Horvath, Erno ^{[1
]}

Pozna, Claudiu ^{[1
,2
]}

Precup, Radu-Emil ^{[3
]}

机构：

[1] Szechenyi Istvan Univ, Dept Comp Engn, Egyet Ter 1, H-9026 Gyor, Hungary

[2] Transilvania Univ Brasov, Dept Automat & Informat Technol, Str Mihai Viteazu 5,Corp 5,Et 3, Brasov 500174, Romania

[3] Politehn Univ Timisoara, Dept Automat & Appl Informat, Bd V Parvan 2, Timisoara 300223, Romania

来源：

ACTA POLYTECHNICA HUNGARICA | 2018年 / 15卷 / 02期

关键词：

Auxiliary lines; Coverage path planning; Iterative Structure Orientation Coverage; Main lines; Mobile; FUZZY CONTROL-SYSTEMS; ADAPTIVE-CONTROL; NEURAL-NETWORK; MOBILE ROBOTS; ALGORITHM; TRANSFORMATIONS; CONTROLLERS; ENVIRONMENT; SUPPORT; DESIGN;

D O I：

10.12700/APH.15.1.2018.2.12

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Coverage path planning for mobile robots aims to compute the shortest path that ensures the overlap of a given area, with applications in various domains. This paper proposes a coverage path planning strategy, referred to as Iterative Structured Orientation Coverage, which has two main advantages over the state-of-the-art, namely it is it versatile and it is capable to handle complex environments. The path planning strategy is expressed as three new approaches to coverage path planning. The suggested approaches are validated by simulation and experimental results. The source codes along with the test set are available in a public repository.

引用

页码：231 / 249

页数：19

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