Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Complete Coverage Path Planning for Multi-Robots

멀티로봇에 대한 전체영역 경로계획

  • Nam, Sang-Hyun (Department of Electronics and Information Engineering, Cheong-Ju Univ.) ;
  • Shin, Ik-Sang (National Academy of Agricultural Science, Rural Development Administration) ;
  • Kim, Jae-Jun (Department of Mechanical Engineering, Kyunghee Univ.) ;
  • Lee, Soon-Geul (Department of Mechanical Engineering, Kyunghee Univ.)
  • 남상현 (청주대학교 전자정보공학부) ;
  • 신익상 (농촌진흥청 국립농업과학원) ;
  • 김재준 (경희대학교 기계공학과) ;
  • 이순걸 (경희대학교 기계공학과)
  • Published : 2009.07.01
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Abstract

This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.

Keywords

References

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