An Energy Efficient Coverage Path Planning Approach for Mobile Robots

Khan, Amna; Noreen, Iram; Habib, Zulfiqar

doi:10.1007/978-3-030-01177-2_28

Cited by 19 publications

(21 citation statements)

References 14 publications

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“…Autonomous mobile robots have been extensively studied in the literature (e.g., see [6,24,30,33,34,36]). The problem of coverage path planning (CPP) for multiple cooperating mobile robots is addressed in [34].…”

Section: Related Workmentioning

confidence: 99%

On the Robot Assisted Movement in Wireless Mobile Sensor Networks

Das¹,

Kapelko²

2021

Preprint

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This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity k placed at the origin point is to move the sensors to achieve the general scheduling requirement such as coverage, connectivity and thus to satisfy the desired communication property in the network. We study tradeoffs between the energy consumption in robot's movement, the numbers of sensors n, the sensor range r, the interference distance s, and the robot capacity k until completion of the coverage simultaneously with interference scheduling task. In this work, we obtain upper bounds for the energy consumption in robot's movement and obtain the sharp decrease in the total movement cost of the robot so as to provide the coverage simultaneously with interference requirement.

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Section: Related Workmentioning

confidence: 99%

On the Robot Assisted Movement in Wireless Mobile Sensor Networks

Das¹,

Kapelko²

2021

Preprint

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“…There have been several discrete and variational models of motion planning for these vehicles [11], [12], [13], [14], [15]. One advantage of models based on optimization is that they can seemlessly account for paths that are not only time-optimal, but consider energy consumption as well [16], [17], [18], [19]. Discrete models of this sort are often hierarchical, relying on a global path planner and a local collision avoidance algorithm [20], [21].…”

Section: A Previous Workmentioning

confidence: 99%

A Hamilton-Jacobi Formulation for Time-Optimal Paths of Rectangular Nonholonomic Vehicles

Parkinson

Bertozzi

Osher

2020

2020 59th IEEE Conference on Decision and Control (CDC)

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We address the problem of optimal path planning for a simple nonholonomic vehicle in the presence of obstacles. Most current approaches are either split hierarchically into global path planning and local collision avoidance, or neglect some of the ambient geometry by assuming the car is a point mass. We present a Hamilton-Jacobi formulation of the problem that resolves time-optimal paths and considers the geometry of the vehicle.

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“…We focus in particular on the complete coverage path planning (CCPP). Contrary to point-to-point path planning, the aim of CCPP is not only to identify a path from an entry point to an exit point, but also to cover at best all the points in a workspace (Khan et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Complete coverage path planning for wheeled agricultural robots

Arab

Spisser²,

Essert

2023

Journal of Field Robotics

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In the agricultural industry, an evolutionary effort has been made over the last two decades to achieve precise autonomous systems to perform typical in-field tasks, including harvesting, mowing, and spraying. One of the main objectives of an autonomous system in agriculture is to improve the efficiency while reducing the environmental impact and cost. Due to the nature of these operations, complete coverage path planning (CCPP) approaches play an essential role to find an optimal path which covers the entire field while taking into account land topography, operation requirements, and robot characteristics. The aim of this paper is to propose a CCPP approach defining the optimal movements of mobile robots over an agricultural field. First, a method based on tree exploration is proposed to find all potential solutions satisfying some predefined constraints. Second, a similarity check and selection of optimal solutions method is proposed to eliminate similar solutions and find the best solutions. The optimization goals are to maximize the coverage area and to minimize overlaps, nonworking path length, and overall travel time. To explore a wide range of possible solutions, our approach is able to consider multiple entrances for the robot. For fields with a complex shape, different dividing lines to split them into simple polygons are also considered. Our approach also computes the headland zones and covers them automatically which leads to a high coverage rate of the field.

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An Energy Efficient Coverage Path Planning Approach for Mobile Robots

Cited by 19 publications

References 14 publications

On the Robot Assisted Movement in Wireless Mobile Sensor Networks

On the Robot Assisted Movement in Wireless Mobile Sensor Networks

A Hamilton-Jacobi Formulation for Time-Optimal Paths of Rectangular Nonholonomic Vehicles

Complete coverage path planning for wheeled agricultural robots

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