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Coverage Path Planning: The Boustrophedon Cellular Decomposition
| Content Provider | Semantic Scholar |
|---|---|
| Author | Choset, Howie Pignon, Philippe |
| Copyright Year | 1998 |
| Abstract | Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applica tions include vacuuming, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cel lular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon is covered with simple back and forth motions. Once each cell is covered, then the entire envi ronment is covered. Therefore, coverage is re duced to finding an exhaustive path through a graph which represents the adjacency relation ships of the cells in the boustrophedon decom position. This approach is provably complete and Experiments on a mobile robot validate this approach. |
| Starting Page | 203 |
| Ending Page | 209 |
| Page Count | 7 |
| File Format | PDF HTM / HTML |
| DOI | 10.1007/978-1-4471-1273-0_32 |
| Alternate Webpage(s) | http://www.ri.cmu.edu/pub_files/pub1/choset_howie_1997_5/choset_howie_1997_5.pdf |
| Alternate Webpage(s) | http://www.ri.cmu.edu/pub_files/pub4/choset_howie_1997_3/choset_howie_1997_3.pdf |
| Alternate Webpage(s) | https://www.ri.cmu.edu/pub_files/pub4/choset_howie_1997_3/choset_howie_1997_3.pdf |
| Alternate Webpage(s) | https://doi.org/10.1007/978-1-4471-1273-0_32 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
