Path Planning for Complete and Efficient Coverage Operation of Mobile Robots

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

doi:10.1109/icma.2007.4303880

Cited by 22 publications

(10 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…There are areas of the map with different levels of desired coverage Λ * = {37.5, 75} to be performed by N = 4 agents. The parameters of the problem are defined as k i = 10, = 1∕4, R = [3,15], K = [0, 5000], Φ = 1, = 800, and g = 1. In the second experiment, presented in Fig.…”

Section: Different Desired Coverage Levels and Prioritiesmentioning

confidence: 99%

Adaptive Action for Multi‐Agent Persistent Coverage

Franco¹,

López‐Nicolás²,

Sagüés³

et al. 2015

Asian Journal of Control

View full text Add to dashboard Cite

Persistent coverage with a team of agents refers to the task of covering an area where the coverage degrades with time. This is a dynamic task as opposed to the deployment problem. A key issue here is the coverage degradation that prevents the complete coverage fulfilment and requires persistence in the action. We propose a new method for persistent coverage where the agents' actions are computed in a partially distributed manner. The contribution is a control strategy based on variable coverage action and variable coverage range of the agents. This control provides adaptive behaviour in terms of actuator power and actuator domain in order to reduce the coverage error and energy consumption. The proposal is tested in simulation, showing clear improvement in terms of efficiency, flexibility, and scalability.

show abstract

Section: Different Desired Coverage Levels and Prioritiesmentioning

confidence: 99%

Adaptive Action for Multi‐Agent Persistent Coverage

Franco¹,

López‐Nicolás²,

Sagüés³

et al. 2015

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…Kang et al proposed a cell decomposition on a known occupancy map of the environment and allow rotations of the map before performing the regular line sweeping operation for finding critical points [19]. They use a set of pre-defined template paths for covering the cells.…”

Section: Introductionmentioning

confidence: 99%

Systematic floor coverage of unknown environments using rectangular regions and localization certainty

Goel

Case

Tamino

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

We address the problem of systematically covering all accessible floor space in an unknown environment by a mobile robot. Our approach uses rectangular regions that are swept across the environment. In the first stage, the robot covers each region using the classic boustrophedon pattern and planning paths to uncovered areas within the region while keeping track of its position uncertainty. The region is then moved sideways to cover the next part of the environment until all accessible space has been visited. In the second stage, the robot revisits the perimeter around the obstacles. We compare our method in terms of total trajectory length to 5 off-line methods including the distance transformation by Zelinsky ET AL.[1] in a standard test environment as well as in multi-room homes. The presented method has been employed in our Mint cleaning robot [2] for autonomously sweeping and mopping the floors.

show abstract

“…At present, the point-to-point optimization planning is more researched by the experts at home and abroad, while the study of the complete coverage path planning is relatively less. The complete coverage path planning [4] traversal the whole area of this environment that not including obstacle in as short time as possible and with repetition rate as low as possible. The complete coverage path planning has extensive application background, and it has important significance in cleaning robots, harvesting robots, seeding robot and search and rescue robot, and so on.…”

Section: Introductionmentioning

confidence: 99%

Uncertain Internet Public Opinion Emergency Decision System Based on Case Reasoning and Grey Relational Analysis

Zhang¹,

Xie²,

Zhang³

2014

TOCSJ

View full text Add to dashboard Cite

Abstract:The complete coverage path planning algorithm based on A* algorithms for the cleaning robot in known environment is proposed in this paper, which uses A* algorithm as heuristic in the U-turn search algorithm. The idea of this algorithm is the cleaning robot clean the cleaning area from the point of origin by using U-turn algorithm, then planning of the shortest path from cleaning robot to not clean area by using A* algorithm when the robot into the dead nodes, and then the cleaning robot for sweeping along this path to not cleaning area by using U-turn search algorithm until this environment area is all covered. The simulation results show that this algorithm proposed of this paper is high coverage rate and low repetition rate.

show abstract

Path Planning for Complete and Efficient Coverage Operation of Mobile Robots

Cited by 22 publications

References 7 publications

Adaptive Action for Multi‐Agent Persistent Coverage

Adaptive Action for Multi‐Agent Persistent Coverage

Systematic floor coverage of unknown environments using rectangular regions and localization certainty

Uncertain Internet Public Opinion Emergency Decision System Based on Case Reasoning and Grey Relational Analysis

Contact Info

Product

Resources

About