NDLI: Complete coverage path planning for cleaning task using multiple robots

Content Provider	IEEE Xplore Digital Library
Author	Lee, J.H. Choi, J.S. Lee, B.H. Lee, K.W.
Copyright Year	2009
Description	Author affiliation: ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea (Lee, J.H.; Choi, J.S.; Lee, B.H.; Lee, K.W.)
Abstract	This paper proposes a novel path planning method for cleaning task using multiple robots in large environment. To do so, we suggested algorithm which partitions a given region into several smaller regions and plans the covering path which can completely cover these divided areas. The algorithm also allocates the planed areas to cleaning robots sequentially and generates the paths which robots can take, when moving from an area to another area, in the shortest time. For partitioning the given region into several small areas, the Virtual Door Algorithm is used, and for planning the paths, the template-based approach is used. Previously generated look-up table, which uses the Dijkstra algorithm, is used for determining the path from one are to another. The Task Area Allocation Algorithm, which allocates the divided areas to cleaning robots using look-up table, is used for planning paths that cover the area completely. Finally, we evaluated the performance of our algorithms which can completely cover the given region regardless of the number of cleaning robots and verify the effectiveness of our proposed algorithms through computer simulations.
Starting Page	3618
Ending Page	3622
File Size	413969
Page Count	5
File Format	PDF
ISBN	9781424427932
ISSN	1062922X
DOI	10.1109/ICSMC.2009.5346856
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Cleaning Partitioning algorithms Navigation Table lookup Computer simulation Parallel robots Robot control Cybernetics USA Councils complete coverage path planning partitioning task allocation cleaning robot
Content Type	Text
Resource Type	Article

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