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http://dx.doi.org/10.5302/J.ICROS.2005.11.9.789

Minimal Turning Path Planning for Cleaning Robots Employing Flow Networks  

Nam Sang-Hyun (세종대학교 컴퓨터공학과)
Moon Seungbin (세종대학교 컴퓨터공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.9, 2005 , pp. 789-794 More about this Journal
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.
Keywords
complete coverage path planning; template; cellular decomposition; cleaning robot; mobile robots;
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