Complete coverage path planning for multi-robots based on

Complete coverage path planning is major problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. In this paper, a complete coverage path planning algorithm is proposed for two indoor floor-caring robots, such as cleaning or inspecting industrial and public floor areas, to have the minimal turning path based on the shape and size of the cell covering the whole working area. The proposed algorithm divides the whole cleaning area into cells by cellular decomposition method, and then provides efficient covering order over the cells based on distance among centroids of cells. It also provides more optimal coverage path and reduces the rate of energy consumption and working time. Both simulation and experimental results demonstrate the effectiveness of the algorithm. As compared performance indices between experiment and simulation, the total number of turns and the working time show the practical efficiency and robustness of the proposed algorithm.