This paper presents a novel algorithm, called ε+, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery size, the energy-constrained vehicles have limited duration of operation time. Therefore, while executing a coverage trajectory...
This paper presents a novel sensor-based online coverage path-planning algorithm that guarantees the complete coverage of an unknown rectilinear workspace for the task of a mobile robot. The proposed algorithm divides the workspace of the robot into cells at each scan sample. This division can be...
[18] Y. Gabriely and E. Rimon, “Spiral-STC: an on-line coverage algorithm of grid environments by a mobile robot,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), vol. 1,2002, pp. 954–960. [19] S. X. Yang and C. Luo, “A neural network...
This paper proposes a area coverage path planning(CPP) algorithm for the concave polygon area, which aims to enable UAV to complete the coverage search of the specified area more efficiently. Firstly, the algorithm flow is given by dealing with concave points in concave polygon area and dividing...
However, for covering vast areas, and especially for underwater or aerial robotics operations which deal intrinsically with a 3-dimensional space, it is difficult to think that a randomized “algorithm” could be usable, as the cost of operating the vehicle (energy and time) would be ...
Reinforcement learning has been used under the pretext of path planning before. Changxi et al. [23] proposed the use of reinforcement learning for trajectory planning for autonomous vehicles. Kenzo et al. [24] used the DDPG reinforcement learning algorithm to plan the motion of bipedal robots in...
Autonomous underwater vehicle (AUV)Complete coverage path planningGBNN algorithmNeural networkFor the shortcomings of biologically inspired neural network algorithm in the path planning of robots, such as high computational complexity, long path planning time etc Glasius Bio-inspired Neural......
Therefore, the coverage path planning algorithm described in this pare is complete; that is, in nite time, it will nd a coverage path or determine that none exists. Our approach exploits a geometric structure termed an exact cellular decomposition, which is the union of non-intersecting regions...
Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applications include vacuuming, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cellular decomposition approach, ...
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