Online complete coverage path planning using two-way proximity search

Khan, Amna; Noreen, Iram; Ryu, Hyejeong; Doh, Nakju Lett; Habib, Zulfiqar

doi:10.1007/s11370-017-0223-z

Cited by 35 publications

(22 citation statements)

References 23 publications

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“…Khan et al uses a zig-zag pattern to scan the map [6]. When the zig-zag scan leaves regions uncovered, the paper proposes two-way proximity search to backtrack to the border of the unscanned region.…”

Section: Related Workmentioning

confidence: 99%

“…This discretization is likely to produce variation in performance between a map with orthogonal features and one with features not aligned to the occupancy grid orthogonally. Most existing research avoids this issue because they use mostly orthogonal features in their performance evaluation [5] [6]. In addition to lack of consideration for non-orthogonal features, the robot's footprint is not considered at the path generation level.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

He¹,

Sun²

2020

Computer Science &Amp; Information Technology (CS &Amp; IT)

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Many robot applications depend on solving the Complete Coverage Path Problem (CCPP). Specifically, robot vacuum cleaners have seen increased use in recent years, and some models offer room mapping capability using sensors such as LiDAR. With the addition of room mapping, applied robotic cleaning has begun to transition from random walk and heuristic path planning into an environment-aware approach. In this paper, a novel solution for pathfinding and navigation of indoor robot cleaners is proposed. The proposed solution plans a path from a priori cellular decomposition of the work environment. The planned path achieves complete coverage on the map and reduces duplicate coverage. The solution is implemented inside the ROS framework, and is validated with Gazebo simulation. Metrics to evaluate the performance of the proposed algorithm seek to evaluate the efficiency by speed, duplicate coverage and distance travelled.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

He¹,

Sun²

2020

Computer Science &Amp; Information Technology (CS &Amp; IT)

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show abstract

“…19 An efficient online approach for complete coverage path planning of mobile robots in an unknown workspace was proposed based on boustrophedon motion and an optimized backtracking mechanism. 20 Different from service or medical robots, the movement environment and path planning object in this article changes to a portable mobile robot working on human back. 21,22 Therefore, the existing path planning algorithms are not applicable for the object of the article.…”

Section: Efficient Full Coverage Path Planning Algorithmmentioning

confidence: 99%

Design, path planning improvement and test of a portable massage robot on human back

Wang

Zhang

Liang

et al. 2018

International Journal of Advanced Robotic Systems

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A massage robot that helps to improve the quality of human life has attracted more interests of researchers and consumers. A portable back massage robot that is compact and space-saving was designed to be used on human back instead of a traditional large-scale structure robot. To design the massage robot, the models of electric circuit, magnetic circuit and mechanics were analyzed to achieve optimal massage force. Parameters of the massage actuator are determined based on the influence analysis of the coil current, the coil turns and the distance between the moving core and the yoke on the electromagnetic force. The massage coverage of human back, which is used to calculate the massage effect, could be improved by an excellent path planning algorithm. This article proposed an efficient full covered path planning algorithm for the designed massage robot, and the relevant algorithm models were established. Simulation results show that the coil current is much more sensitive to electromagnetic force of the moving core compared to the other two factors, and the presented path planning algorithm completes full coverage of the massage robot on the back area. The experimental platform of the massage robot was built, and the influence of the input signal duty cycle, the input signal voltage and the hardness of the massage object on the massage effect was discussed by testing the values of acceleration. The tested results show that the massage effect is best when the duty cycle is in the range of 1/8–1/2. Meanwhile, the hardness of massage parts affects the massage intensity. The consistency between the tested results of path planning and simulation verifies the feasibility of the simulation procedure and indicates that the massage robot can attain the desired massage performance and realize the planned paths.

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“…Different environment settings were used for testing the footprint coverage of the proposed robot. An efficient method for online complete coverage path planning of mobile robots in an unknown environment has been developed [14]. The cited work uses an online boustro-phedon motion and an optimized backtracking mechanism to improve total coverage time.…”

Section: Introductionmentioning

confidence: 99%

Toward complete area coverage of a reconfigurable tiling robot by following obstacle shape

Samarakoon

Muthugala

et al. 2021

Complex Intell. Syst.

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Complete area coverage is a crucial factor for a floor cleaning robot. Self-reconfigurable tiling robots have been introduced over robots with a fixed shape for floor cleaning since they improve the area coverage by the flexibility of shape-shifting in cluttered environments. The existing coverage methods of reconfigurable tiling robots follow the tiling theory to cope with the area coverage problem. However, these methods merely consider a limited set of predefined shapes for the reconfiguration of a robot. The consideration of a limited set of predefined shapes for the reconfiguration impedes the ability of coverage to a certain extent in typical floor environments. Therefore, this paper proposes a novel method to improve area coverage of a tiling robot by reconfiguring according to the shape of obstacles. To this end, the required hinge angles for reconfiguring per the shape of an obstacle are determined by a genetic algorithm. The proposed method considers an optimized shape for reconfiguration in lieu of a limited set of predefined shapes. The coverage improvement of the proposed concept has been compared against the existing coverage methods of tiling robots to validate the performance. According to the experimental results, the proposed method surpasses the existing coverage methods of tiling robots from the perspective of area coverage, and the improvement is significant and noteworthy.

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Online complete coverage path planning using two-way proximity search

Cited by 35 publications

References 23 publications

An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

Design, path planning improvement and test of a portable massage robot on human back

Toward complete area coverage of a reconfigurable tiling robot by following obstacle shape

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