CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with...

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Bibliographic Details
Published inRobotica Vol. 39; no. 7; pp. 1141 - 1162
Main Authors Guruprasad, K. R., Ranjitha, T. D.
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.07.2021
Subjects
Algorithms
Decomposition
Path planning
Robots
Minor nodes
Cell permeability
Coverage path planning
Spanning tree
Exact coverage
Mobile robot
Clustered minor nodes
Online AccessGet full text
ISSN0263-5747
1469-8668
DOI10.1017/S026357472000096X

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Summary:A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S026357472000096X