Coverage for robotics – A survey of recent results

被引:29
作者
Howie Choset
机构
[1] Carnegie Mellon University,
来源
Annals of Mathematics and Artificial Intelligence | 2001年 / 31卷
关键词
coverage; mobile robots; cell decompositions;
D O I
暂无
中图分类号
学科分类号
摘要
This paper surveys recent results in coverage path planning, a new path planning approach that determines a path for a robot to pass over all points in its free space. Unlike conventional point-to-point path planning, coverage path planning enables applications such as robotic de-mining, snow removal, lawn mowing, car-body painting, machine milling, etc. This paper will focus on coverage path planning algorithms for mobile robots constrained to operate in the plane. These algorithms can be classified as either heuristic or complete. It is our conjecture that most complete algorithms use an exact cellular decomposition, either explicitly or implicitly, to achieve coverage. Therefore, this paper organizes the coverage algorithms into four categories: heuristic, approximate, partial-approximate and exact cellular decompositions. The final section describes some provably complete multi-robot coverage algorithms.
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收藏
页码:113 / 126
页数:13
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