Path Planning for Complete and Efficient Coverage Operation of Mobile Robots

Author

Kang, Jung Won ; Kim, Si Jong ; Chung, Myung Jin ; Myung, Hyun ; Park, Jun Ho ; Bang, Seok Won

Author_Institution

Korea Adv. Inst. of Sci. & Technol., Daejeon

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2126

Lastpage

2131

Abstract

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.

Keywords

divide and conquer methods; mobile robots; path planning; cell decomposition algorithm; completed coverage operation; coverage path planning algorithm; divide and conquer strategy; mobile robots; path generation method; robot motion; Cleaning; Laboratories; Mechatronics; Mobile robots; Optimization methods; Painting; Path planning; Robot motion; Robotics and automation; Topology; Cell decomposition; Complete coverage algorithm; Optimal coverage algorithm;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303880

Filename

4303880