Working Paper Article Version 1 This version is not peer-reviewed

Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planing Performance in Mobile Robot Applications

Version 1 : Received: 22 March 2019 / Approved: 26 March 2019 / Online: 26 March 2019 (09:37:15 CET)

A peer-reviewed article of this Preprint also exists.

Pham, H.V.; Moore, P.; Truong, D.X. Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planning Performance in Mobile Robot Applications. Robotics 2019, 8, 44. Pham, H.V.; Moore, P.; Truong, D.X. Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planning Performance in Mobile Robot Applications. Robotics 2019, 8, 44.

Journal reference: Robotics 2019, 8, 44
DOI: 10.3390/robotics8020044

Abstract

Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement; the aim being to optimise the efficacy of robotic movements in a defined operational environment. For example, robots have been employed in many domains including: cleaning robots (such as vacuum cleaners), automated paint spraying robots, window cleaning robots, forest monitoring robots, agricultural robots (often driven using satellite and geostationary positional satellite data). Additionally, mobile robotic systems have been utilised in disaster areas and locations hazardous to humans (such as war zones in mine clearance). The coverage path planning problem describes an approach which is designed to determine the path that traverses all points in a defined operational environment while avoiding static and dynamic (moving) obstacles. In this paper we present our proposed Smooth-STC model, the aim of the model being to identify an optimal path, avoid all obstacles, prevent (or at least minimise) backtracking, and maximise the coverage in any defined operational environment. The experimental results in a simulation show that, in uncertain environments, our proposed smooth STC method achieves an almost absolute coverage rate and demonstrates improvement when measured against alternative conventional algorithms.

Subject Areas

mobile robotic systems; coverage path planning; smooth-STC algorithm; robotic C-space path planning

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