GHACPP: Genetic-based Human-Aware Coverage Path Planning Algorithm for Autonomous Disinfection Robot
| Autor: | Perminov, Stepan, Kalinov, Ivan, Tsetserukou, Dzmitry |
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| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | Numerous mobile robots with mounted Ultraviolet-C (UV-C) lamps were developed recently, yet they cannot work in the same space as humans without irradiating them by UV-C. This paper proposes a novel modular and scalable Human-Aware Genetic-based Coverage Path Planning algorithm (GHACPP), that aims to solve the problem of disinfecting of unknown environments by UV-C irradiation and preventing human eyes and skin from being harmed. The proposed genetic-based algorithm alternates between the stages of exploring a new area, generating parts of the resulting disinfection trajectory, called mini-trajectories, and updating the current state around the robot. The system performance in effectiveness and human safety is validated and compared with one of the latest state-of-the-art online coverage path planning algorithms called SimExCoverage-STC. The experimental results confirmed both the high level of safety for humans and the efficiency of the developed algorithm in terms of decrease of path length (by 37.1%), number (39.5%) and size (35.2%) of turns, and time (7.6%) to complete the disinfection task, with a small loss in the percentage of area covered (0.6%), in comparison with the state-of-the-art approach. Comment: Accepted to International Conference on Systems, Man, and Cybernetics (SMC). 2023. IEEE copyright |
| Databáze: | arXiv |
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