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Complete Coverage Path Planning of Mobile Robot Based on Dynamic Programming Algorithm

Peng Zhou, Zhong-min Wang, Zhen-nan Li, Yang Li
2012 Proceedings of the 2nd International Conference on Electronic and Mechanical Engineering and Information Technology (2012)   unpublished

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A complete coverage path planning algorithm, which combines local space coverage with global planning, is proposed. At first, environmental model of mobile robot in a space with obstacles is built by Boustrophedon unit decomposition method, and mobile robot realizes coverage in a reciprocating way in local space. Secondly, it takes local space dividing, sub-space connecting sequence and sub-space walking route into account, then a completely connected distance matrix that represents the
more » ... ng relationship of the coverage space are defined. Thirdly, dynamic programming algorithm is used to optimize this matrix and a shortest global coverage sequence is acquired. Simulation example proves the effectiveness of the proposed algorithm.
doi:10.2991/emeit.2012.407 fatcat:757aica7anbzdbouxo6eopxmdq
Citation

Peng Zhou, Zhong-min Wang, Zhen-nan Li, Yang Li. "Complete Coverage Path Planning of Mobile Robot Based on Dynamic Programming Algorithm." Proceedings of the 2nd International Conference on Electronic and Mechanical Engineering and Information Technology (2012) (2012)