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2009 IEEE International Symposium on Industrial Electronics
This paper presents a novel coverage path planning algorithm for a mobile robot in indoor environment. Overall region is divided into several sub-regions based on the virtually extracted doors. The key idea of this method was obtained from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The proposed virtual door algorithm extracts the virtual doors by overlapping a Generalized Voronoi Diagram (GVD) and a configuration spacedoi:10.1109/isie.2009.5214281 fatcat:ce7er4wzpna4xd5laphmpsbry4