CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

Author:

Guruprasad K. R.ORCID,Ranjitha T. D.

Abstract

SUMMARYA new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

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