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 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).
PY - 2017/7/1
Y1 - 2017/7/1
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
VL - 10
SP - 229
EP - 240
JO - Intelligent Service Robotics
JF - Intelligent Service Robotics
SN - 1861-2776
IS - 3
ER -