Online complete coverage path planning using two-way proximity search

Amna Khan; Iram Noreen; Hyejeong Ryu; Nakju Lett Doh; Zulfiqar Habib

doi:10.1007/s11370-017-0223-z

Online complete coverage path planning using two-way proximity search

Amna Khan, Iram Noreen, Hyejeong Ryu, Nakju Lett Doh, Zulfiqar Habib

School of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

This paper presents an efficient online approach for complete coverage path planning of mobile robots in an unknown workspace based on online boustrophedon motion and an optimized backtracking mechanism. The presented approach first performs a single continuous boustrophedon motion until a critical point is reached. In order to completely cover the environment, next starting point is decided by using the accumulated knowledge of the environment map. An efficient backtracking technique based on proposed Two-way Proximity Search algorithm is used to plan a path from the critical point to the new starting point. Simulation results show the efficiency of proposed backtracking approach with improved total coverage time, coverage path length and memory requirements.

Original language	English
Pages (from-to)	229-240
Number of pages	12
Journal	Intelligent Service Robotics
Volume	10
Issue number	3
DOIs	https://doi.org/10.1007/s11370-017-0223-z
Publication status	Published - 2017 Jul 1

Keywords

Boustrophedon motions
Complete coverage path
Mobile robots
Two-way proximity search

ASJC Scopus subject areas

Computational Mechanics
Engineering (miscellaneous)
Mechanical Engineering
Artificial Intelligence

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10.1007/s11370-017-0223-z

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title = "Online complete coverage path planning using two-way proximity search",

abstract = "This paper presents an efficient online approach for complete coverage path planning of mobile robots in an unknown workspace based on online boustrophedon motion and an optimized backtracking mechanism. The presented approach first performs a single continuous boustrophedon motion until a critical point is reached. In order to completely cover the environment, next starting point is decided by using the accumulated knowledge of the environment map. An efficient backtracking technique based on proposed Two-way Proximity Search algorithm is used to plan a path from the critical point to the new starting point. Simulation results show the efficiency of proposed backtracking approach with improved total coverage time, coverage path length and memory requirements.",

keywords = "Boustrophedon motions, Complete coverage path, Mobile robots, Two-way proximity search",

author = "Amna Khan and Iram Noreen and Hyejeong Ryu and Doh, {Nakju Lett} and Zulfiqar Habib",

note = "Funding Information: This study is supported by the research grant of Higher Education Commission (HEC) of Pakistan (No. 20-2359/NRPU/RD/HEC/12-6779) and partly supported by a project of Korean government (No. 10073166).",

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AU - Noreen, Iram

AU - Ryu, Hyejeong

AU - Doh, Nakju Lett

AU - Habib, Zulfiqar

N1 - Funding Information: This study is supported by the research grant of Higher Education Commission (HEC) of Pakistan (No. 20-2359/NRPU/RD/HEC/12-6779) and partly supported by a project of Korean government (No. 10073166).

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