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

Published online by Cambridge University Press:  07 October 2020

K. R. Guruprasad*
Affiliation:
Department of Mechanical Engineering, National Institute of Technology Karnataka, Surathkal 575025, India
T. D. Ranjitha
Affiliation:
Telit Communications India Pvt Ltd, Bengaluru, India E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]

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.

Type
Article
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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Footnotes

Part of this work was carried as part of Masters’ thesis of T. D. Ranjitha in the Department of Mechanical Engineering, National Institute of Technology Karnataka, Surathkal, Mangaluru 575025, India.

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