Title :
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
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;
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
DOI :
10.1109/ICMA.2007.4303880
