This paper presents a new coverage on-line strategy the execution of spiral filling paths, instead of "zig-zag" like BSA, Backtracking Spiral Algorithm. Some service tasks involve paths used by most of the precedent algorithms [5][6][7], in the tilliaglsweeping of the surface that is accessible to the robot consequence it is more robust to the robot initial orientation. from its starting position. BSA is a stmctnred way to perform this spiral pa& implemented with a set of kind of procedures assuring the complete coverage of the surface rules, which allows it to work properly with low sensorial and computational demands. The generated paths can be regardless of the space topology.One of the main innovations of BSA is the use of spiral f a g paths instead of %-zag like which makes it easily by a differential drive Platform, thus regardless of the robot initial orientation. In order to assnre that facilitating the Operation and construction of the motion the whole surface is covered, the algorithm is based in a System. These physical requirements make BSA suitable for backtracking procednre that makes robot get hack to nnfnlfied buildmg low cost robots. detected regions. BSA is implemented with a set of simple d e s .BSA doesn't need to have a known map ofthe environment As the first riog of a spiral-filling path is accomplished nearby the to work. BSA is an on-line algorithm, it builds incrementally obstacles, BSA indirectly contributes to improve the performance a very simple grid like map in order to control the spiral of a localisation system using obstacles as beacons. BSA bas been filrmg procedure and the backtracking In fact, BSA validated in simulation.
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