Paper Info
Title
Cpc Algorithm: Exact Area Coverage By A Mobile Robot Using Approximate Cellular Decomposition
Abstract
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.
Year
DOI
Venue
2021
10.1017/S026357472000096X
ROBOTICA
Keywords
DocType
Volume
Coverage path planning, Exact coverage, Spanning tree, Cell permeability, Minor nodes, Clustered minor nodes, Mobile robot
Journal
39
Issue
ISSN
Citations 
7
0263-5747
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
K. R. Guruprasad1537.99
T. D. Ranjitha200.34