Finding Efficient Robot Path for the Complete Coverage of A Known Space
Finding Efficient Robot Path for the Complete Coverage of A Known Space
复制标题
寻找有效的机器人路径以完全覆盖已知空间
DOI：
10.1109/iros.2006.282514
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Zhiyang Yao
中科院分区：
文献类型：
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作者：
Zhiyang Yao
在机器人规划问题中，完全覆盖路径规划是指确定机器人必须采取的路径以通过环境中的每个点并避开障碍物的问题。应用包括排雷、清扫、清洁、吸尘、检查机器人。对于这类问题，不仅要实现完全覆盖，而且需要一条有效的路径。使用传统的扫线策略往往需要多次搬迁，导致效率低下。在本文中，我们描述了一个几何算法生成路径，使用修改后的扫描线策略，试图尽量减少额外的搬迁移动。文中用几个例子说明了该算法相对于传统方法的优越性
In robot planning problems, the complete coverage path planning refers to the problem of determining a path that a robot must take in order to pass over each point in an environment and avoid obstacles. Applications include demining, sweeping, cleaning, vacuuming, inspection robots. For this kind of problem, not only the complete coverage should be performed, but an efficient path is highly desired. Using traditional sweeping line strategy often requires several relocation moves, leading to poor efficiency. In this paper we describe a geometric algorithm for generating paths by using a modified sweeping line strategy that attempts to minimize extra relocation moves. Several examples are used in the paper to show the advantage of our algorithm over traditional approaches