Abstract
AbstractInspired by the path transform (PT) algorithm of Zelinsky et al. the novel algorithm of complete coverage called complete coverage D* (CCD*) algorithm is developed, based on the D* search of the two-dimensional occupancy grid map of the environment. Unlike the original PT algorithm the CCD* algorithm takes the robot's dimension into account, with emphasis on safety of motion and reductions of path length and search time. Additionally, the proposed CCD* algorithm has ability to produce new complete coverage path as the environment changes. The algorithms were tested on a Pioneer 3DX mobile robot equipped with a laser range finder.
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