NDLI: Online complete coverage path planning for mobile robots based on linked spiral paths using constrained inverse distance transform

Content Provider	IEEE Xplore Digital Library
Author	Young-Ho Choi Tae-Kyeong Lee Sang-Hoon Baek Se-Young Oh
Copyright Year	2009
Description	Author affiliation: Electronic and Electrical Engineering Department, Pohang University of Science and Technology (POSTECH), Kyungbuk, Korea (Tae-Kyeong Lee; Sang-Hoon Baek; Se-Young Oh) \|\| Pohang Institute of Intelligent Robotics (PIRO), Kyungbuk, Korea (Young-Ho Choi)
Abstract	This paper presents a sensor-based online coverage path planning algorithm guaranteeing a complete coverage of unstructured planar environments by a mobile robot. The proposed complete coverage algorithm abstracts the environment as a union of robot-sized cells and then uses a spiral filling rule. It can be largely classified as an approximate cellular decomposition approach as defined by Choset. In this paper, we first propose a special map coordinate assignment scheme based on active wall-finding using the history of sensor readings, which can drastically reduce the number of turns on the generated coverage path. Next, we develop an efficient path planner to link the simple spiral paths using the constrained inverse distance transform that we introduced the first time. This planner selects the next target cell which is at the minimal path length away from the current cell among the remaining non-contiguous uncovered cells while at the same time, finding the path to this target to save both the memory and time which are important concern in embedded robotics. Experiments on both simulated and real cleaning robots demonstrate the practical efficiency and robustness of the proposed algorithm.
Starting Page	5788
Ending Page	5793
File Size	650137
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354499
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Mobile robots Spirals Robot kinematics Abstracts Robot sensing systems Filling History Cleaning Robustness
Content Type	Text
Resource Type	Article

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