NDLI: Coverage path planning for multiple robotic agent-based inspection of an unknown 2D environment

Content Provider	IEEE Xplore Digital Library
Author	Xudong Wang Syrmos, V.L.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, University of Hawaii, Honolulu, 96822 USA (Syrmos, V.L.) \|\| Research Corporation of University of Hawaii, Honolulu, 96822 USA (Xudong Wang)
Abstract	This paper describes a coverage-based path planning algorithm for multiple robotic agents with the application on the automated inspection of an unknown 2D environment. The proposed path planning algorithm determines a motion path that a robotic agent will follow to sweep and survey all areas of the unknown environment, which is enclosed by the known boundary. The 2D unknown environment is decomposed into a union of simplices using the principle of Delaunay triangulation. The area coverage is equivalent to design a path for a robotic agent to follow and visit all simplices subject to certain mission constraints. A hierarchical mission planner is designed to allocate mission tasks among multiple agents in each level and pass information down to the next level along the hierarchy. The proposed path planning algorithm has been tested and evaluated on the problem of planning path for two types of robotic agents - flying agents and crawling agents in a two-tier hierarchical mission planner to cover various unknown 2D environments.
Starting Page	1295
Ending Page	1300
File Size	693343
Page Count	6
File Format	PDF
ISBN	9781424446841
DOI	10.1109/MED.2009.5164725
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-24
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Computational geometry Design methodology Mobile agents Inspection Path planning Cleaning Mobile robots Robotics and automation Orbital robotics
Content Type	Text
Resource Type	Article

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