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Complete coverage path planning scheme for autonomous navigation ROS-based robots
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DOI：10.1016/j.icte.2023.06.009.png)
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Abstract
En 中文
In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system -based robots. For the path planning, firstly a sub -area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub -area, an S shape path planning is employed, and then a Bidirectional A -star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposed scheme. (c) 2023 The Authors. Published by Elsevier B.V. on behalf of The Korean Institute of Communications and Information Sciences. This is an open access article under the CC BY -NC -ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Keywords:
Complete coverage path planning (CCPP)
Robot operating system (ROS)
Simultaneous localization and mapping (SLAM)
Coverage path method
Dynamic tracking method
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