Optimal Coverage Path Planning Based on the Rotating Calipers Algorithm

Vasquez-Gomez, J. Irving; Melchor, Magdalena Marciano; Lozada, Juan Carlos Herrera

doi:10.1109/icmeae.2017.11

Cited by 12 publications

(2 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The coverage path planning (CPP) algorithm is a popular topic and has been substantially studied. It is applied for underwater or land inspection, unmanned aerial vehicles, milling, floor cleaning, painting, and medical tasks [8]. Both offline and online CPP algorithms have been previously proposed.…”

Section: Robotmentioning

confidence: 99%

“…Using rotating calipers, antipodal pairs i and j (i, j ∈ V) are two points on the surface of a polygon that are exactly opposite each other. The idea of the method is to compute all the antipodal pairs, find the best path for each antipodal pair, and then select the path with the lowest cost in combination with the takeoff and landing points [8]. The caliper is roated clockwise until it touches the edge then, it is rotated counter-clockwise until it touches a second edge.…”

Section: Coverage Path Planningmentioning

confidence: 99%

See 1 more Smart Citation

Design and Coverage Path Planning of a Disinfection Robot

Chen

Tang

2023

Actuators

View full text Add to dashboard Cite

Eliminating pathogen exposure is an important approach to control outbreaks of epidemics such as COVID-19 (coronavirus disease 2019). To deal with pathogenic environments, using disinfection robots is a practicable choice. This research formulates a 3D (three-dimensional) spatial disinfection strategy for a disinfection robot. First, a disinfection robot is designed with an extensible control framework for the integration of additional functions. The robot has eight degrees of freedom that can handle disinfection tasks in complex 3D environments where normal disinfection robots lack the capability to ensure complete disinfection. An ingenious clamping mechanism is designed to increase flexibility and adaptability. Secondly, a new coverage path planning algorithm targeted at the spraying area is used. This algorithm aims to achieve an optimal path via the rotating calipers algorithm after transformation between a 2D (two-dimensional) array and 3D space. Finally, the performance of the designed robot is tested through a series of simulations and experiments in various spaces that humans usually live in. The results demonstrate that the robot can effectively perform disinfection tasks both in computer simulation and in reality.

show abstract

Section: Robotmentioning

confidence: 99%

Section: Coverage Path Planningmentioning

confidence: 99%