Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Minimal Turning Path Planning for Cleaning Robots Employing Flow Networks

Flow Network을 이용한 청소로봇의 최소방향전환 경로계획

  • 남상현 (세종대학교 컴퓨터공학과) ;
  • 문승빈 (세종대학교 컴퓨터공학과)
  • Published : 2005.09.01
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Abstract

This paper describes an algorithm for minimal turning complete coverage Path planning for cleaning robots. This algorithm divides the whole cleaning area by cellular decomposition, and then provides the path planning among the cells employing a flow network. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The minimal turning of the robots is directly related to the faster motion and energy saving. The proposed algorithm is compared with previous approaches in simulation and the result shows the validity of the algorithm.

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References

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