Online complete coverage path planning using two-way proximity search

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

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


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 languageEnglish
Pages (from-to)229-240
Number of pages12
JournalIntelligent Service Robotics
Issue number3
Publication statusPublished - 2017 Jul 1


  • 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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