A Complete Coverage Path Planning Method for Mobile Robot in Uncertain Environments

2006 ◽  
Author(s):  
Xuena Qiu ◽  
Jiatao Song ◽  
Xuejun Zhang ◽  
Shirong Liu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Planning Method ◽  
Complete Coverage ◽  
Uncertain Environments ◽  
Coverage Path Planning

Research on Coverage Path Planning of Mobile Robot Based on Genetic Algorithm

2013 ◽  
Vol 819 ◽  
pp. 379-383 ◽  
Author(s):  
San Peng Deng ◽  
Zhong Min Wang ◽  
Peng Zhou ◽  
Hong Bing Wu
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Mobile Robot ◽  
Cell Decomposition ◽  
Global Motion ◽  
Complete Coverage ◽  
Regional Environment ◽  
Coverage Path Planning ◽  
Environment Model ◽  
Local Space

This paper presents a complete coverage path planning method, which combines local space coverage with global motion planning. It is realized by modeling mobile robot environment based on Boustrophedon cell decomposition method; and according to the characteristics of regional environment model, the connectivity of the traversing space is represented by a complete weighted connected matrix. Then Genetic algorithm (GA) is used to optimize the subspace traversal distance to obtain the shortest global traversal sequence of mobile robot.

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