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) | 1-12 |
| Number of pages | 12 |
| Journal | Intelligent Service Robotics |
| DOIs | |
| Publication status | Accepted/In press - 2017 Mar 16 |
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Keywords
- Boustrophedon motions
- Complete coverage path
- Mobile robots
- Two-way proximity search
ASJC Scopus subject areas
- Computational Mechanics
- Engineering (miscellaneous)
- Mechanical Engineering
- Artificial Intelligence
Cite this
Online complete coverage path planning using two-way proximity search. / Khan, Amna; Noreen, Iram; Ryu, Hyejeong; Doh, Nakju; Habib, Zulfiqar.
In: Intelligent Service Robotics, 16.03.2017, p. 1-12.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Online complete coverage path planning using two-way proximity search
AU - Khan, Amna
AU - Noreen, Iram
AU - Ryu, Hyejeong
AU - Doh, Nakju
AU - Habib, Zulfiqar
PY - 2017/3/16
Y1 - 2017/3/16
N2 - 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.
AB - 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.
KW - Boustrophedon motions
KW - Complete coverage path
KW - Mobile robots
KW - Two-way proximity search
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U2 - 10.1007/s11370-017-0223-z
DO - 10.1007/s11370-017-0223-z
M3 - Article
AN - SCOPUS:85015710407
SP - 1
EP - 12
JO - Intelligent Service Robotics
JF - Intelligent Service Robotics
SN - 1861-2776
ER -