Indoor Coverage Path Planning: Survey, Implementation, Analysis
| Autor: | Joshua Hampp, Florian Jordan, Richard Bormann, Martin Hägele |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Operations research Cover (telecommunications) Computer science Process (engineering) Volume (computing) 02 engineering and technology Implementation analysis 020901 industrial engineering & automation Work (electrical) 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Motion planning |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2018.8460566 |
| Popis: | Coverage Path Planning (CPP) describes the process of generating robot trajectories that fully cover an area or volume. Applications are, amongst many others, mobile cleaning robots, lawn mowing robots or harvesting machines in agriculture. Many approaches and facets of this problem have been discussed in literature but despite the availability of several surveys on the topic there is little work on quantitative assessment and comparison of different coverage path planning algorithms. This paper analyzes six popular off-line coverage path planning methods, applicable to previously recorded maps, in the setting of indoor coverage path planning on room-sized units. The implemented algorithms are thoroughly compared on a large dataset of over 550 rooms with and without furniture. |
| Databáze: | OpenAIRE |
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