A protruding vertex decomposition approach to complete coverage path planning

被引：0
|
作者：
Shi, Weiren
Shen, Min [1 ]
Wang, Kai
Yang, Simon X.
机构：
[1] Chongqing Univ, Coll Automat, Chongqing 400044, Peoples R China
[2] Univ Guelph, ARIS Lab, Guelph, ON N1G 2W1, Canada
来源：
DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS | 2006年 / 13E卷
关键词：
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
A novel complete coverage path planning algorithm for mobile robots using protruding vertex decomposition is proposed in this paper. The environment is first divided into several areas according to the vertices: leftmost, rightmost, topmost and bottommost of the obstacle. Then the way to cover the divided area is selected: landscape or portrait orientation. Using the proposed algorithm, the robot can find an efficient path with less time to generate a complete coverage path than using Trapezoidal algorithm and Boustrophedon algorithm.
引用
收藏
页码：4000 / 4004
页数：5
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