Advertisement

Autonomous Robots

, Volume 9, Issue 3, pp 247–253 | Cite as

Coverage of Known Spaces: The Boustrophedon Cellular Decomposition

  • Howie Choset
Article

Abstract

Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applications include de-mining, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cellular decomposition approach, for the purposes of coverage. Essentially, the boustrophedon decomposition is a generalization of the trapezoidal decomposition that could allow for non-polygonalobstacles, but also has the side effect of having more “efficient” coverage paths than the trapezoidal decomposition. Each cell in the boustrophedon decomposition is covered with simple back and forth motions. Once each cell is covered, then the entire environment is covered. Therefore, coverage is reduced to finding an exhaustive path through a graph which represents the adjacency relationships of the cells in the boustrophedon decomposition. This approach is provably complete and experiments on a mobile robot validate this approach.

vacuum cleaning coverage floor coverage boustrophedon cellular decomposition motion planning complete algorithm mobile robot 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Canny, J.F. 1988. Constructing roadmaps of semi-algebraic sets i: Completeness. Artificial Intelligence, 37:203–222.Google Scholar
  2. Canny, J.F. and Lin, M.C. 1990.Anopportunistic global path planner. In Proc.IEEE Int.Conf.on Robotics and Automation, Cincinnati, Ohio, pp. 1554–1559.Google Scholar
  3. Canny, J.F. and Lin, M.C. 1993.Anopportunistic global path planner. Algorithmica, 10:102–120.Google Scholar
  4. Colegrave, J. and Branch, A. 1994. A case study of autonomous household vacuum cleaner. In AIAA/NASA CIRFFSS.Google Scholar
  5. Hert, S., Tiwari, S., and Lumelsky, V. 1996. A terrain-covering algorithm for an AUV. Autonomous Robots, 3:91–119.Google Scholar
  6. Hofner, C. and Schmidt, G. 1995. Path planning and guidance techniques for an autonomous mobile cleaning robot. Robotics and Autonomous Systems, 14:199–212.Google Scholar
  7. Kurabayashi, D., Ota, J., Arai, T., and Yoshida, E. 1996. Cooperative sweeping by multiple mobile robots. In Int.Conf.on Robotics and Automation.Google Scholar
  8. Latombe, J.C. 1991. Robot Motion Planning, Kluwer Academic Publishers: Boston, MA.Google Scholar
  9. Ollis, M. and Stentz, A. 1996. First results in vision-based crop line tracking. In IEEE International Conference on Robotics and Automation.Google Scholar
  10. Preparata, F.P. and Shamos, M.I. 1985. Computational Geometry: An Introduction, Springer-Verlag, pp. 198–257.Google Scholar
  11. VanderHeide, J. and Rao, N.S.V. 1995. Terrain coverage of an unknown room by an autonomous mobile robot. Technical Report ORNL/TM-13117, Oak Ridge National Laboratory, Oak Ridge, Tennessee.Google Scholar
  12. Zelinsky, A., Jarvis, R.A., Byrne, J.C., and Yuta, S. 1993. Planning paths of complete coverage of an unstructured environment by a mobile robot. In Proceedings of International Conference on Advanced Robotics, Tokyo, Japan, November 1993, pp. 533–538.Google Scholar

Copyright information

© Kluwer Academic Publishers 2000

Authors and Affiliations

  • Howie Choset
    • 1
  1. 1.Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghUSA

Personalised recommendations