DocumentCode :
3737658
Title :
Coverage path planning based on a multiple sweep line decomposition
Author :
Xin Yu;John Y. Hung
Author_Institution :
Electrical and Computer Engineering, Auburn University, AL, USA
fYear :
2015
Firstpage :
4052
Lastpage :
4058
Abstract :
Coverage path planning determines a path that guides an autonomous vehicle to pass every part of a workspace completely and efficiently. Since turns are often costly for autonomous vehicles, minimizing the number of turns usually produces more working efficiency. This paper presents an optimization approach to minimize the number of turns of autonomous vehicles in coverage path planning. For complex polygonal fields, the problem is reduced to finding the optimal decomposition of the original field into simple subfields. The optimization criterion is minimization of the sum of widths of these decomposed subfields. Here, a new algorithm is designed based on a multiple sweep line decomposition. The time complexity of the proposed algorithm is O(n2 log n). Experiments show that the proposed algorithm can provide nearly optimal solutions very efficiently when compared against recent state-of-the-art. The proposed algorithm can be applied for both convex and non-convex fields.
Keywords :
"Path planning","Algorithm design and analysis","Vehicles","Time complexity","Service robots","Mobile robots"
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, IECON 2015 - 41st Annual Conference of the IEEE
Type :
conf
DOI :
10.1109/IECON.2015.7392731
Filename :
7392731
Link To Document :
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