Complete Coverage Path Planning of Mobile Robot Based on Dynamic Programming Algorithm

DOI

10.2991/emeit.2012.407How to use a DOI?

Keywords

Mobile robot, Complete coverage path planning, Boustrophedon unit decomposition, Dynamic programming algorithm.

Abstract

A complete coverage path planning algorithm, which combines local space coverage with global planning, is proposed. At first, environmental model of mobile robot in a space with obstacles is built by Boustrophedon unit decomposition method, and mobile robot realizes coverage in a reciprocating way in local space. Secondly, it takes local space dividing, sub-space connecting sequence and sub-space walking route into account, then a completely connected distance matrix that represents the connecting relationship of the coverage space are defined. Thirdly, dynamic programming algorithm is used to optimize this matrix and a shortest global coverage sequence is acquired. Simulation example proves the effectiveness of the proposed algorithm.

Copyright

© 2012, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Peng Zhou
AU  - Zhong-min Wang
AU  - Zhen-nan Li
AU  - Yang Li
PY  - 2012/09
DA  - 2012/09
TI  - Complete Coverage Path Planning of Mobile Robot Based on Dynamic Programming Algorithm
BT  - Proceedings of the 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT 2012)
PB  - Atlantis Press
SP  - 1837
EP  - 1841
SN  - 1951-6851
UR  - https://doi.org/10.2991/emeit.2012.407
DO  - 10.2991/emeit.2012.407
ID  - Zhou2012/09
ER  -