Complete coverage path planning scheme for autonomous navigation ROS-based robots
Shengmin Zhao, Seung‐Hoon Hwang
Abstract
In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposes scheme.
Topics & Concepts
Motion planningPath (computing)Scheme (mathematics)ObstacleRobotPosition (finance)Division (mathematics)Any-angle path planningComputer scienceProcess (computing)Tracking (education)A* search algorithmReal-time computingMathematical optimizationAlgorithmArtificial intelligenceMathematicsGeographyComputer networkFinancePsychologyArchaeologyPedagogyArithmeticOperating systemEconomicsMathematical analysisRobotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationControl and Dynamics of Mobile Robots