Optimal Object Placement for Minimum Discontinuity Non-revisiting Coverage Task

Yang, Tianfeng; Miró, Jaime Valls; Wang, Yue; Xiong, Rong

doi:10.1109/icra48506.2021.9560853

Cited by 1 publication

(1 citation statement)

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“…In [28], a bipartite cooperative coevolution algorithm is proposed to optimize inter-area and intra-area path planning components, addressing battery limitations and ensuring effective coverage. Furthermore, a novel mechanism to generate non-revisiting uniform coverage paths on arbitrarily shaped object surfaces is presented in [27]. In [30], the limitations of CPP algorithms in handling unexpected changes in the coverage area are addressed through a novel adaptive CPP approach.…”

Section: Motivationmentioning

confidence: 99%

Efficient Path Planning Algorithm for Mobile Robots Performing Floor Cleaning Like Operations

Nair

2024

Journal of Robotics and Control

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In this paper, we introduce an efficient path planning algorithm designed for floor cleaning applications, utilizing the concept of Spanning Tree Coverage (STC). We operate under the assumption that the environment, i.e., the floor, is initially unknown to the robot, which also lacks knowledge regarding obstacle positions, except for the workspace boundaries. The robot executes alternating phases of exploration and coverage, leveraging the local map generated during exploration to construct a STC tree, which then guides the subsequent coverage (cleaning) phase. The extent of exploration is determined by the range of the robot's sensors. The path generation algorithms for cleaning fall within the broader category of coverage path planning (CPP) algorithms. A key advantage of this algorithm is that the robot returns to its initial position upon completing the operation, minimizing battery usage since sensors are only active during the exploration phase. We classify the proposed algorithm as an offline-online scheme. To validate the effectiveness and non-repetitive nature of the algorithm, we conducted simulations using VRep/MATLAB environments and implemented real-time experiments using Turtlebot in the ROS-Gazebo environment. The results substantiate the completeness of coverage and underscore the algorithm's significance in applications akin to floor cleaning.

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Section: Motivationmentioning

confidence: 99%

Efficient Path Planning Algorithm for Mobile Robots Performing Floor Cleaning Like Operations

Nair

2024

Journal of Robotics and Control

View full text Add to dashboard Cite

show abstract

Optimal Object Placement for Minimum Discontinuity Non-revisiting Coverage Task

Cited by 1 publication

References 26 publications

Efficient Path Planning Algorithm for Mobile Robots Performing Floor Cleaning Like Operations

Efficient Path Planning Algorithm for Mobile Robots Performing Floor Cleaning Like Operations

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