Virtual Door-Based Coverage Path Planning for Mobile Robot
This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.
KeywordsVirtual Door Coverage Path Planning Mobile Robot
Unable to display preview. Download preview PDF.
- 4.Choset, H., Acar, E., Rizzi, A.A., Luntz, J.: Exact cellular decomposition in terms of critical points of Morse functions. In: Proc. of the IEEE International Conference on Robotics and Automation, San Francisco, USA, pp. 2270–2277 (2000)Google Scholar
- 5.Wong, S.C., MacDonald, B.A.: A topological coverage algorithm for mobile robots. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lag Vegas, USA, pp. 1685–1690 (2003)Google Scholar
- 7.Huang, W.H.: Optimal line-sweep-based decompositions for coverage algorithms. In: Proc. of the IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 27–32 (2001)Google Scholar
- 8.Kang, J.W., Kim, S.J., Chung, M.J., Myung, H., Park, J.H., Bang, S.W.: Path Planning for Complete and Efficient Coverage Operation of Mobile Robots. In: Proc. of the 2007 IEEE International Conference on Mechatronics and Automation, Harbin, China, pp. 2126–2131 (2007)Google Scholar