Spiral Coverage Research Articles

Performance Evaluation of Various Path Planning Methods for Robotics and Computational Geometry

INTRODUCTION: In integrating Spiral Coverage into Cellular Decomposition, which combines structured grid-based techniques with flexible, quick spiral traversal, time efficiency is increased.OBJECTIVES: In the field of robotics and computational geometry, the study proposes a comparative exploration of two prominent path planning methodologies—Boustrophedon Cellular Decomposition and the innovative Spiral Coverage. Boustrophedon coverage has limitations in time efficiency due to its back-and-forth motion pattern, which can lead to lengthier coverage periods, especially in congested areas. Nevertheless, it is useful in some situations. It is critical to address these time-related issues to make Boustrophedon algorithms more useful in practical settings. METHODS: The research centres on achieving comprehensive cell coverage, addressing the complexities arising from confined spaces and intricate geometries. While conventional methods emphasise route optimization between points, the coverage path planning approach seeks optimal paths that maximize coverage and minimize associated costs. This study delves into the theory, practical implementation, and application of Spiral Coverage integrated with established cellular decomposition techniques.RESULTS: Through comparative analysis, it illustrates the advantages of spiral coverage over boustrophedon coverage in diverse robotics and computational applications. The research highlights Spiral Coverage's superiority in terms of path optimization, computational efficiency, and adaptability, proposing a novel perspective into cell decomposition. The methodology integrates the Spiral Coverage concept, transcending traditional techniques reliant on grids or Voronoi diagrams. Rigorous evaluation validates its potential to enhance path planning, exemplifying a substantial advancement in robotics and computational geometry.CONCLUSION: Our findings show that spiral coverage is on an average 45% more efficient than conventional Boustrophedon coverage. This paper set the basis for the future work on how different algorithms can traverse different shapes more efficiently.

Multi-Robot Connected Fermat Spiral Coverage

Multi-Robot Connected Fermat Spiral Coverage

Spiral complete coverage path planning based on conformal slit mapping in multi-connected domains

The generation of smoother and shorter spiral complete coverage paths in multi-connected domains is a crucial research topic in path planning for robotic cavity machining and other related fields. Traditional methods for spiral path planning in multi-connected domains typically incorporate a subregion division procedure that leads to excessive subregion bridging, requiring longer, more sharply turning, and unevenly spaced spirals to achieve complete coverage. To address this issue, this paper proposes a novel spiral complete coverage path planning method using conformal slit mapping. It takes advantage of the fact that conformal slit mapping can transform multi-connected domains into regular disks or annuluses without the need for subregion division. Firstly, a slit mapping calculation technique is proposed for segmented cubic spline boundaries with corners. Secondly, a spiral path spacing control method is developed based on the maximum inscribed circle radius between adjacent conformal slit mapping iso-parameters. Thirdly, the spiral coverage path is derived by offsetting iso-parameters. Numerical experiments indicate that our method shares a comparable order-of-magnitude in computation time with the traditional PDE-based spiral complete coverage path method, but it excels in optimizing total path length, smoothness, and spacing consistency. Finally, we performed experiments on cavity milling and dry runs to compare the new method with the traditional PDE-based method in terms of machining duration and steering impact, respectively. The comparison reveals that, with both algorithms achieving complete coverage, the new algorithm reduces machining time and steering impact by 12.34% and 22.78%, respectively, compared with the traditional PDE-based method.

SP2E: Online Spiral Coverage with Proactive Prevention Extremum for Unknown Environments

SP2E: Online Spiral Coverage with Proactive Prevention Extremum for Unknown Environments

Coverage Path Planning and Point-of-Interest Detection Using Autonomous Drone Swarms.

Unmanned Aerial Vehicles (UAVs) or drones presently are enhanced with miniature sensors that can provide information relative to their environment. As such, they can detect changes in temperature, orientation, altitude, geographical location, electromagnetic fluctuations, lighting conditions, and more. Combining this information properly can help produce advanced environmental awareness; thus, the drone can navigate its environment autonomously. Wireless communications can also aid in the creation of drone swarms that, combined with the proper algorithm, can be coordinated towards area coverage for various missions, such as search and rescue. Coverage Path Planning (CPP) is the field that studies how drones, independently or in swarms, can cover an area of interest efficiently. In the current work, a CPP algorithm is proposed for a swarm of drones to detect points of interest and collect information from them. The algorithm’s effectiveness is evaluated under simulation results. A set of characteristics is defined to describe the coverage radius of each drone, the speed of the swarm, and the coverage path followed by it. The results show that, for larger swarm sizes, the missions require less time while more points of interest can be detected within the area. Two coverage paths are examined here—parallel lines and spiral coverage. The results depict that the parallel lines coverage is more time-efficient since the spiral increases the required time by an average of 5% in all cases for the same number of detected points of interest.

AUV path planning for coverage search of static target in ocean environment

Aiming at the path planning problem for searching static target by autonomous underwater vehicles (AUVs) in ocean environment, this paper proposes a hierarchical method based on the maximum cumulative detection reward or search efficiency. First, the mission sea region is described in the form of target probability map, and the subregions with high search value are extracted by the method of expectation-maximization (EM). For multiple AUVs, we propose the bidirectional negotiation with biased min-consensus (BN-BMC) algorithm to determine the allocation and prioritization of subregions to be searched. On this basis, we utilize an adaptive oval spiral coverage (AOSC) strategy to plan the coverage path within each subregion, and take the Dubins path satisfying the AUV kinematic constraint as the transition path between subregions. Finally, the simulation results validate the advantage of our method.

Renewing textbooks to align with reformed curriculum in former colonies: Ugandan school mathematics textbooks

Several nations have reformed both their mathematics pedagogy and curriculum. The remaining challenge is to review teaching and learning resources to support the renewed pedagogy and curriculum. This paper responds to the following question: what pedagogy and curriculum are depicted in textbooks used in Uganda? Ugandan textbooks were analyzed in terms of mathematics content structure and genre, and presentation of written and non-written voice and looks (appearance). Whereas certain Ugandan mathematics textbooks used the narrative form and others chose to eliminate the use of extensive text, these textbooks include common characteristics such as spiral coverage of mathematics content. A few strides toward reform pedagogy, such as use of contexts familiar to learners in development of rules and concepts, were evinced among selected Uganda textbooks. More strides are needed in revising a majority of textbooks to align with the renewed curricula on certain aspects including integrating learning tools—digital and non-digital—within the textbook resources. A critical reflection on curriculum renewals adopted from other countries is needed when designing textbooks to match these renewals.