Coverage planning with finite resources

The robot coverage problem, a common planning problem, consists of finding a motion path for the robot that passes over all points in a given area or space. In many robotic applications involving coverage, e.g., industrial cleaning, mine sweeping, and agricultural operations, the desired coverage ar...

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Bibliographic Details
Main Authors: Strimel, Grant P., Veloso, Manuela M.
Format: Conference Proceeding
Language:English
Subjects:
Batteries
Fuels
Heuristic algorithms
Navigation
Planning
Robot sensing systems
Citations: Items that cite this one
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Description
Summary:The robot coverage problem, a common planning problem, consists of finding a motion path for the robot that passes over all points in a given area or space. In many robotic applications involving coverage, e.g., industrial cleaning, mine sweeping, and agricultural operations, the desired coverage area is large and of arbitrary layout. In this work, we address the real problem of planning for coverage when the robot has limited battery or fuel, which restricts the length of travel of the robot before needing to be serviced. We introduce a new sweeping planning algorithm, which builds upon the boustrophedon cellular decomposition coverage algorithm to include a fixed fuel or battery capacity of the robot. We prove the algorithm is complete and show illustrative examples of the planned coverage outcome in a real building floor map.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6942969