NDLI: An optimization approach for planning robotic field coverage

Content Provider	IEEE Xplore Digital Library
Author	Xin Yu Roppel, T.A. Hung, J.Y.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Auburn Univ., Auburn, AL, USA (Xin Yu; Roppel, T.A.; Hung, J.Y.)
Abstract	This paper presents an optimization approach that takes the vehicle's characteristics into account to minimize the non-working travel of mobile robots in coverage path planning. Since turns are often costly for mobile robots, minimizing the cost of turns usually produces more working efficiency. Prior researches on coverage path planning for mobile robots tend to fall into two complementary categories: (1) minimize the number of turns, by finding the optimal decomposition of a complex field into subfields and the optimal driving directions; (2) minimize the cost on a fixed number of turns, by finding the optimal visiting sequence of subfields and the optimal traversal sequence of parallel tracks for each subfield. This paper firstly presents a novel traversal pattern of parallel field tracks that belongs to the second category, then extends the proposed traversal pattern to connect with algorithms in the first category, providing a complete coverage path planning method for mobile robots. Experiments show that the proposed method can provide feasible solutions and the total wasted distance can be greatly reduced when compared against classical boustrophedon path or recent state-of-the-art.
Sponsorship	IEEE
Starting Page	004032
Ending Page	004039
File Size	599416
Page Count	8
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392728
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Path planning Nickel Mobile robots Turning Layout
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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