Complete coverage path planning scheme for autonomous navigation ROS-based robots
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Elsevier
2024-02-01
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| Series: | ICT Express |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405959523000796 |
| _version_ | 1797305248382976000 |
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| author | Shengmin Zhao Seung-Hoon Hwang |
| author_facet | Shengmin Zhao Seung-Hoon Hwang |
| author_sort | Shengmin Zhao |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T00:23:11Z |
| format | Article |
| id | doaj.art-b1e25adbac294cddbe56618e56ce6b00 |
| institution | Directory Open Access Journal |
| issn | 2405-9595 |
| language | English |
| last_indexed | 2024-03-08T00:23:11Z |
| publishDate | 2024-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | ICT Express |
| spelling | doaj.art-b1e25adbac294cddbe56618e56ce6b002024-02-16T04:29:46ZengElsevierICT Express2405-95952024-02-011018389Complete coverage path planning scheme for autonomous navigation ROS-based robotsShengmin Zhao0Seung-Hoon Hwang1Division of Electronics and Electrical Engineering, Dongguk university, Seoul, Republic of KoreaCorresponding author.; Division of Electronics and Electrical Engineering, Dongguk university, Seoul, Republic of KoreaIn 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.http://www.sciencedirect.com/science/article/pii/S2405959523000796Complete coverage path planning (CCPP)Robot operating system (ROS)Simultaneous localization and mapping (SLAM)Coverage path methodDynamic tracking method |
| spellingShingle | Shengmin Zhao Seung-Hoon Hwang Complete coverage path planning scheme for autonomous navigation ROS-based robots ICT Express Complete coverage path planning (CCPP) Robot operating system (ROS) Simultaneous localization and mapping (SLAM) Coverage path method Dynamic tracking method |
| title | Complete coverage path planning scheme for autonomous navigation ROS-based robots |
| title_full | Complete coverage path planning scheme for autonomous navigation ROS-based robots |
| title_fullStr | Complete coverage path planning scheme for autonomous navigation ROS-based robots |
| title_full_unstemmed | Complete coverage path planning scheme for autonomous navigation ROS-based robots |
| title_short | Complete coverage path planning scheme for autonomous navigation ROS-based robots |
| title_sort | complete coverage path planning scheme for autonomous navigation ros based robots |
| topic | Complete coverage path planning (CCPP) Robot operating system (ROS) Simultaneous localization and mapping (SLAM) Coverage path method Dynamic tracking method |
| url | http://www.sciencedirect.com/science/article/pii/S2405959523000796 |
| work_keys_str_mv | AT shengminzhao completecoveragepathplanningschemeforautonomousnavigationrosbasedrobots AT seunghoonhwang completecoveragepathplanningschemeforautonomousnavigationrosbasedrobots |