International Journal of Computational Intelligence Systems

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Volume 11, Issue 1, 2018, Pages 1357 - 1368

An Integrated Algorithm of CCPP Task for Autonomous Mobile Robot under Special Missions

Authors
Caihong Li1, lich@sdut.edu.cn, Zhiqiang Wang1, Chun Fang1, Zhenying Liang1, Yong Song2, songyong@sdu.edu.cn, Yibin Li2
1School of Computer Science and Technology, Shandong University of Technology, Zibo, 255000, PR China
2School of Control Science and Engineering, Shandong University, Jinan, 250000, PR China
Received 24 March 2018, Accepted 29 July 2018, Available Online 13 August 2018.
DOI
10.2991/ijcis.11.1.100How to use a DOI?
Keywords
Autonomous mobile robot; Complete coverage path planning (CCPP); Integrated algorithm; Chaotic path planner; Cellular decomposition approach; The Standard map
Abstract

Due to the difficult problem of avoiding obstacles to achieve the complete coverage path planning (CCPP) for special missions, this paper introduces a novel integrated algorithm of CCPP for autonomous mobile robot under an obstacles-included environment. The algorithm combines cellular decomposition approach and the Standard map together for designing. The cellular decomposition approach is used to simplify the given workplace into smaller sub-regions for coverage via a chaotic path planner. The planner is constructed based on the chaotic Standard map at full mapping and produces the needed trajectories inside each decomposed sub-region. The simulation results verify the effectiveness of the designed method.

Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

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<Previous Article In Issue
Journal
International Journal of Computational Intelligence Systems
Volume-Issue
11 - 1
Pages
1357 - 1368
Publication Date
2018/08/13
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.11.1.100How to use a DOI?
Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Caihong Li
AU  - Zhiqiang Wang
AU  - Chun Fang
AU  - Zhenying Liang
AU  - Yong Song
AU  - Yibin Li
PY  - 2018
DA  - 2018/08/13
TI  - An Integrated Algorithm of CCPP Task for Autonomous Mobile Robot under Special Missions
JO  - International Journal of Computational Intelligence Systems
SP  - 1357
EP  - 1368
VL  - 11
IS  - 1
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.11.1.100
DO  - 10.2991/ijcis.11.1.100
ID  - Li2018
ER  -