Planning Paths of Complete Coverage of an Unstructured Environment by a Mobile Robot

Abstract

Much of the focus of the research effort in path planning for mobile robots has centred on the problem of finding a path from a start location to a goal location, while minimising one or more parameters such as length of path, energy consumption or journey time. A path of complete coverage is a planned path in which a robot sweeps all areas of free space in an environment in a systematic and efficient manner. Possible applications for paths of complete coverage include autonomous vacuum cleaners, lawn mowers, security robots, land mine detectors etc. This paper will present a solution to this problem based upon an extension to the distance transform path planning methodology. The solution has been implemented on the self-contained autonomous mobile robot called the Yamabico. I. INTRODUCTION The problem of planning a path of complete coverage of an environment by a mobile robot has not received significant research attention. Much of the focus of the research effort to date has centre...