Abstract
Abstract Inspired by the Spanning Tree Covering (STC) algorithm of Gabriely and Rimon, a novel algorithm of complete coverage for known environments is developed. Unlike the original STC algorithm, we detect dynamic elements of the environment and efficiently update the solution when changes are observed. The contribution is a path replanning algorithm that reduces overlapping when the part of the environment is changed. Experiments show that the proposed algorithm is capable of planning complete coverage robot paths with 70.27% coverage and without overlapping.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
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 call
