Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot
The complete coverage path planning is a process of finding a path which ensures that a mobile robot completely covers the entire environment while following the planned path. In this paper, we propose a complete coverage path planning algorithm that generates smooth complete coverage paths based on...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/23/9269 |
| _version_ | 1797462133654421504 |
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| author | Ana Šelek Marija Seder Mišel Brezak Ivan Petrović |
| author_facet | Ana Šelek Marija Seder Mišel Brezak Ivan Petrović |
| author_sort | Ana Šelek |
| collection | DOAJ |
| description | The complete coverage path planning is a process of finding a path which ensures that a mobile robot completely covers the entire environment while following the planned path. In this paper, we propose a complete coverage path planning algorithm that generates smooth complete coverage paths based on clothoids that allow a nonholonomic mobile robot to move in optimal time while following the path. This algorithm greatly reduces coverage time, the path length, and overlap area, and increases the coverage rate compared to the state-of-the-art complete coverage algorithms, which is verified by simulation. Furthermore, the proposed algorithm is suitable for real-time operation due to its computational simplicity and allows path replanning in case the robot encounters unknown obstacles. The efficiency of the proposed algorithm is validated by experimental results on the Pioneer 3DX mobile robot. |
| first_indexed | 2024-03-09T17:32:10Z |
| format | Article |
| id | doaj.art-b532cae2ed17401f9622338df9fe95bc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T17:32:10Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b532cae2ed17401f9622338df9fe95bc2023-11-24T12:11:23ZengMDPI AGSensors1424-82202022-11-012223926910.3390/s22239269Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic RobotAna Šelek0Marija Seder1Mišel Brezak2Ivan Petrović3Laboratory for Autonomous Systems and Mobile Robotics (LAMOR), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaLaboratory for Autonomous Systems and Mobile Robotics (LAMOR), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaLaboratory for Autonomous Systems and Mobile Robotics (LAMOR), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaLaboratory for Autonomous Systems and Mobile Robotics (LAMOR), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, CroatiaThe complete coverage path planning is a process of finding a path which ensures that a mobile robot completely covers the entire environment while following the planned path. In this paper, we propose a complete coverage path planning algorithm that generates smooth complete coverage paths based on clothoids that allow a nonholonomic mobile robot to move in optimal time while following the path. This algorithm greatly reduces coverage time, the path length, and overlap area, and increases the coverage rate compared to the state-of-the-art complete coverage algorithms, which is verified by simulation. Furthermore, the proposed algorithm is suitable for real-time operation due to its computational simplicity and allows path replanning in case the robot encounters unknown obstacles. The efficiency of the proposed algorithm is validated by experimental results on the Pioneer 3DX mobile robot.https://www.mdpi.com/1424-8220/22/23/9269mobile robotcomplete coveragepath planningpath smoothingvelocity profile optimization |
| spellingShingle | Ana Šelek Marija Seder Mišel Brezak Ivan Petrović Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot Sensors mobile robot complete coverage path planning path smoothing velocity profile optimization |
| title | Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot |
| title_full | Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot |
| title_fullStr | Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot |
| title_full_unstemmed | Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot |
| title_short | Smooth Complete Coverage Trajectory Planning Algorithm for a Nonholonomic Robot |
| title_sort | smooth complete coverage trajectory planning algorithm for a nonholonomic robot |
| topic | mobile robot complete coverage path planning path smoothing velocity profile optimization |
| url | https://www.mdpi.com/1424-8220/22/23/9269 |
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