UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot
COVID-19’s global spread had numerous negative consequences for the industry. At present, many antivirus products and technologies have been proposed, among which ultraviolet antivirus has been proven effective and does not pollute the environment. Most ultraviolet disinfection devices us...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10136646/ |
| _version_ | 1827932570213416960 |
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| author | Shaoye Luo Rong-Guei Tsai Chengtao Xu Xiaolan Chen Yabin Weng Kunlong Lai Yicong Yu |
| author_facet | Shaoye Luo Rong-Guei Tsai Chengtao Xu Xiaolan Chen Yabin Weng Kunlong Lai Yicong Yu |
| author_sort | Shaoye Luo |
| collection | DOAJ |
| description | COVID-19’s global spread had numerous negative consequences for the industry. At present, many antivirus products and technologies have been proposed, among which ultraviolet antivirus has been proven effective and does not pollute the environment. Most ultraviolet disinfection devices use fixed-point methods for disinfection, which is very labor-intensive and inflexible. Mobile ultraviolet disinfection robots are often not optimized because the movement trajectory of the robot is not optimized, resulting in insufficient disinfection areas. This study proposes a heuristic self-optimizing path planning algorithm called UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula>. UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> generates a path trajectory based on the Boustrophedon pattern path planning to achieve full area coverage and then optimizes the path length of the robot’s movement trajectory through the path optimization procedure. This study compares the UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> algorithm, the Random method, the Boustrophedon pattern algorithm, the CIRCLES algorithm, and the genetic algorithm (GA). In UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula>, we proposed a path optimization procedure that can optimize the existing path planning algorithms. The experimental results show that the UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> path planning algorithm can reach the goal of full coverage, and the total path length is shorter than that of the Random, CIRCLES, GA, and Boustrophedon pattern path planning algorithms. |
| first_indexed | 2024-03-13T07:11:46Z |
| format | Article |
| id | doaj.art-4ee3bbcba4f440c69c4a48db822c63ba |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-13T07:11:46Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-4ee3bbcba4f440c69c4a48db822c63ba2023-06-05T23:00:34ZengIEEEIEEE Access2169-35362023-01-0111526035261310.1109/ACCESS.2023.328022010136646UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection RobotShaoye Luo0Rong-Guei Tsai1https://orcid.org/0000-0002-8643-9772Chengtao Xu2Xiaolan Chen3Yabin Weng4Kunlong Lai5Yicong Yu6New Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaNew Engineering Industry College, Putian University, Fujian, Putian, ChinaCOVID-19’s global spread had numerous negative consequences for the industry. At present, many antivirus products and technologies have been proposed, among which ultraviolet antivirus has been proven effective and does not pollute the environment. Most ultraviolet disinfection devices use fixed-point methods for disinfection, which is very labor-intensive and inflexible. Mobile ultraviolet disinfection robots are often not optimized because the movement trajectory of the robot is not optimized, resulting in insufficient disinfection areas. This study proposes a heuristic self-optimizing path planning algorithm called UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula>. UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> generates a path trajectory based on the Boustrophedon pattern path planning to achieve full area coverage and then optimizes the path length of the robot’s movement trajectory through the path optimization procedure. This study compares the UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> algorithm, the Random method, the Boustrophedon pattern algorithm, the CIRCLES algorithm, and the genetic algorithm (GA). In UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula>, we proposed a path optimization procedure that can optimize the existing path planning algorithms. The experimental results show that the UV<inline-formula> <tex-math notation="LaTeX">$^{\ast} $ </tex-math></inline-formula> path planning algorithm can reach the goal of full coverage, and the total path length is shorter than that of the Random, CIRCLES, GA, and Boustrophedon pattern path planning algorithms.https://ieeexplore.ieee.org/document/10136646/Internet of ThingsUV-Cpath planningshortest path |
| spellingShingle | Shaoye Luo Rong-Guei Tsai Chengtao Xu Xiaolan Chen Yabin Weng Kunlong Lai Yicong Yu UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot IEEE Access Internet of Things UV-C path planning shortest path |
| title | UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot |
| title_full | UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot |
| title_fullStr | UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot |
| title_full_unstemmed | UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot |
| title_short | UV*: A Boustrophedon Pattern-Based Path Planning and Optimization Strategy for an Ultraviolet Disinfection Robot |
| title_sort | uv x002a a boustrophedon pattern based path planning and optimization strategy for an ultraviolet disinfection robot |
| topic | Internet of Things UV-C path planning shortest path |
| url | https://ieeexplore.ieee.org/document/10136646/ |
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