文章基本信息

标题：Proposed Smooth-STC Algorithm for Enhanced Coverage Path Planning Performance in Mobile Robot Applications
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作者：Hai Van Pham ; Philip Moore ; Dinh Xuan Truong 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2019
卷号：8
期号：2
页码：44-62
DOI：10.3390/robotics8020044
出版社：MDPI Publishing
摘要：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 of path planning is to optimise the efficacy of robotic movement 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, and 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.
关键词：mobile robotic systems; coverage path planning; Smooth-STC algorithm; robotic C-space path planning mobile robotic systems ; coverage path planning ; Smooth-STC algorithm ; robotic C-space path planning