Efficient Coverage Path Planning and Path Following in Dynamic Environments

효율적 커버리지 경로 계획 및 동적 환경에서의 경로 주행

This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.