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Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 3/2017

16.03.2017 | Original Research Paper

Online complete coverage path planning using two-way proximity search

verfasst von: Amna Khan, Iram Noreen, Hyejeong Ryu, Nakju Lett Doh, Zulfiqar Habib

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2017

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Abstract

This paper presents an efficient online approach for complete coverage path planning of mobile robots in an unknown workspace based on online boustrophedon motion and an optimized backtracking mechanism. The presented approach first performs a single continuous boustrophedon motion until a critical point is reached. In order to completely cover the environment, next starting point is decided by using the accumulated knowledge of the environment map. An efficient backtracking technique based on proposed Two-way Proximity Search algorithm is used to plan a path from the critical point to the new starting point. Simulation results show the efficiency of proposed backtracking approach with improved total coverage time, coverage path length and memory requirements.
Vorheriger Artikel Recognition of pipeline geometry by using monocular camera and PSD sensors
Nächster Artikel Optimal 3D trajectory generation in delivering missions under urban constraints for a flying robot

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Metadaten
Titel
Online complete coverage path planning using two-way proximity search
verfasst von
Amna Khan
Iram Noreen
Hyejeong Ryu
Nakju Lett Doh
Zulfiqar Habib
Publikationsdatum
16.03.2017
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 3/2017
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-017-0223-z

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