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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 Open the ORCID record for K. R. Guruprasad [Opens in a new window]  and
T. D. Ranjitha
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: ranjithatd.26@gmail.com
*
*Corresponding author. E-mail: krgprao@gmail.com
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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.

Keywords

Coverage path planningExact coverageSpanning treeCell permeabilityMinor nodesClustered minor nodesMobile robot
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1141 - 1162
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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