Abstract
This paper presents an on-line complete-coverage path planning algorithm for mobile robots based on approximate cellular decomposition, which abstracts the target environment using grid. Most existing grid-based coverage algorithms have a common problem of constrained mobility which degrades the efficiency of the coverage task by inducing zigzag like path. In this paper, we propose a new complete coverage path generation algorithm, linked-smooth-spiral-path (LSSP), which removes the constraint on mobility by adopting a high-resolution grid-map representation of the environment and a cardinal-spline curve-model to generate a smooth spiral coverage path. We define a new performance measure for coverage tasks, which quantifies the smoothness of the coverage path. Simulation results demonstrate the improved coverage performance of the proposed algorithm compared to other existing grid-based coverage algorithms.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
