Browse > Article

Complete Coverage Path Planning for Multi-Robots  

Nam, Sang-Hyun (Department of Electronics and Information Engineering, Cheong-Ju Univ.)
Shin, Ik-Sang (National Academy of Agricultural Science, Rural Development Administration)
Kim, Jae-Jun (Department of Mechanical Engineering, Kyunghee Univ.)
Lee, Soon-Geul (Department of Mechanical Engineering, Kyunghee Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.7, 2009 , pp. 73-80 More about this Journal
Abstract
This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.
Keywords
Complete Coverage Path Planning; Cellular Decomposition; Cleaning Robot; Multi-robot;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
1 Zelinsky, A., Jarvis, R. A. and Byrne, J. C., "Planning paths of complete coverage of an unstructured environment by a mobile robot," Proc. IEEE Int. Conf. Robot. Automat., pp. 533-538, 1993
2 Acar, E. U., Choset, H., Rizzi, A. A., Atkar, P. N. andHull, D., "Morse decompositions for coverage tasks," Int. J. Robot. Res., Vol. 21, No. 4, pp. 331-334, 2002   DOI
3 Nam, S. H. and Moon, S. B., "Minimal Turning Path Planning for Cleaning Robots Employing Flow Networks," Journal of Control, Automation, and Systems Engineering, Vol. 11, No. 9, pp. 789-794, 2005   과학기술학회마을   DOI
4 Schmidt, G. and Hofer, C., "An advanced planning and navigation approach for autonomous cleaning robot operations," Proc. IEEE Int. Conf. Intelligent Robots and Sys., Vol. 2, pp. 1230-1235, 1998   DOI
5 Saitov, D., Umirov, U., Park, J. I., Choi, J. W. and Lee,S. G., "Effective Map Building Using a Wave Algorithm in a Multi-Robot System," International Journal of Precision Engineering and Manufacturing,Vol. 9, No. 2, pp. 69-74, 2008   과학기술학회마을   ScienceOn
6 Jager, M. and Nebel, B., "Dynamic Decentralized Area Partitioning for Cooperating Cleaning Robot," Proc. IEEE Int. Conf. Robot, Vol. 4, pp. 3577-3582, 2002
7 Hert, S. and Richards, B., "Multiple Robot MotionPlanning=Parallel Processing + Geometry," Sensor Based Intelligent Robote, LNCS 2238, Springer, pp.195-215, 2002   DOI   ScienceOn
8 Cha, Y.-Y., "Global Path Planning of Mobile Robot Using String and Modified SOFM," Journal of the Korean Society for Precision Engineering, Vol. 25, No. 4, pp. 69-76, 2008   과학기술학회마을
9 Choset, H., "Coverage of known spaces: the boustrophedon cellular decomposition," Autonomous Robots, Vol. 9, No. 3, pp. 247-253, 2000   DOI   ScienceOn
10 Gabriely, Y. and Rimon, E., "Spanning-tree based coverage of continuous areas by a mobile robot,"Proc. IEEE Int. Conf. Robot. Automat., Vol. 2, pp.1927-1933, 2001   DOI
11 Nam, S. H., Suk, S. W., Moon, S. B. and Lee, K. M.,"Obstacle recognition and localization for vacuum cleaning robots employing vision cameras," Proc.32nd Int. Symp. Robot., pp. 1266-1270, 2001
12 Acar, E. U. and Choset, H., "Critical point sensing in unknown environments," Proc. IEEE Int. Conf.Robot. Automat., Vol. 4, pp. 3803-3810, 2000
13 Acar, E. U., Choset, E. U., Zhang, Y. and Schervish,M., 'Path planning for robotics demining: robust sensor-based coverage of unstrucured environments and probabilistic methods,' Int. J. Robot. Res., Vol.22, No. 7-8, pp. 441-466, 2003   DOI   ScienceOn
14 Ge, S. S. and Cui, Y. J., "New potential function for mobile robot path planning," IEEE Trans. Robotics and Automat., Vol. 16, No. 5, pp. 615-620, 2000   DOI   ScienceOn
15 Ryu, J. C., Park, K. H., Lee, S. G. and Rhim, S. S, "A Study on Development of Performance Metrics for Autonomous Cleaning Robot," Journal of the Korean Society for Precision Engineering, Vol. 23, No. 7, pp.7-13, 2006   과학기술학회마을
16 Hofner, C. and Schmidt, G., "Path planning and guidance techniques for an autonomous mobile cleaning robots," Robotics and Autonomous Systems, Vol. 14, No. 2-3, pp. 199-212, 1995   DOI   ScienceOn
17 Zenlinsky, A., "A mobile robot exploration algorithm," IEEE Trans. Robotics and Automation, Vol. 8, No. 6, pp. 707-717, 1992   DOI   ScienceOn
18 Oh, J. S., Park, J. B. and Choi, Y. H., "Complete coverage navigation of clean robot based on the triangular cell map," Proc. IEEE Int. Symp. Industrial Electronics, Vol. 3, pp. 2089-2093, 2001   DOI
19 Kim, E.-S. and Joo, K.-S., "Moving Path Following of Autonomous Mobile Robot using Fuzzy," Journal of the Korean Society for Precision Engineering, Vol.17, No. 5, pp. 84-92, 2000   과학기술학회마을
20 Carvalho, R. N., Vidal, H. A., Vieira, P. and Ribeiro, M. I., "Complete coverage path planning and guidance for cleaning robots," Proc. IEEE Int. Symp. Industrial Electronics, Vol. 2, pp. 677-682, 1997   DOI
21 Weiss, M. A., "Data Structures and Algorithm Analysis In C," Addison Wesley Longman, pp. 295-303, 1997