Abstract
Coverage Path Planning (CPP) is an essential problem in many applications of robotics, including, but not limited to autonomous de-mining and farming. In this paper we propose a solution that is based on the A* search algorithm for grid based environments. The proposed approach achieves energy efficiency in cluttered environments by reducing the number of rotations. The running time of the algorithm is kept in the order of seconds for moderate sized environments thanks to a selective branching approach and a cost function that can predict the minimum future cost of each node in the search tree.
This work was supported by ISR–University of Coimbra (project UID/EEA/00048/2013) funded by “Fundação para a Ciência e a Tecnologia” (FCT), and by the European Community’s Seventh Framework Program TIRAMISU project (FP7/SEC/284747).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Acar, E., Choset, H., Rizzi, A., Atkar, P., Hull, D.: Morse decompositions for coverage tasks. Int. J. Robot. Res. 21(4), 331–344 (2002)
Arkin, E., Fekete, S., Mitchell, J.: Approximation algorithms for lawn mowing and milling. Comput. Geom. Theor. Appl. 17(1–2), 25–50 (2000)
Choset, H.: Coverage of known spaces: the boustrophedon cellular decomposition. Auton. Robots 9(3), 247–253 (2000)
Choset, H.: Coverage for robotics-a survey of recent results. Ann. Math. Artif. Intell. 31(1–4), 113–126 (2001)
Chuy, O., Collins E.G., J., Yu, W., Ordonez, C.: Power modeling of a skid steered wheeled robotic ground vehicle. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 4118–4123 (2009)
Di Franco, C., Buttazzo, G.: Coverage path planning for UAVs photogrammetry with energy and resolution constraints. J. Intell. Robot. Syst. 83(3), 445–462 (2016)
Dogru, S., Marques, L.: Energy efficient coverage path planning for autonomous mobile robots on 3D terrain. In: 2015 IEEE International Conference on Autonomous Robot Systems and Competitions, pp. 118–123 (2015)
Dogru, S., Marques, L.: Power characterization of a skid-steered mobile field robot. In: 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 15–20 (2016)
Gabriely, Y., Rimon, E.: Spanning-tree based coverage of continuous areas by a mobile robot. Ann. Math. Artif. Intell. 31(1–4), 77–98 (2001)
Galceran, E., Carreras, M.: A survey on coverage path planning for robotics. Robot. Auton. Syst. 61(12), 1258–1276 (2013)
Hameed, I.: Intelligent coverage path planning for agricultural robots and autonomous machines on three-dimensional terrain. J. Intell. Robot. Syst. Theor. Appl. 74(3–4), 965–983 (2014)
Jimenez, P.A., Shirinzadeh, B., Nicholson, A., Alici, G.: Optimal area covering using genetic algorithms. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1–5. IEEE (2007)
Kapanoglu, M., Ozkan, M., Parlaktuna, O.: Pattern-based genetic algorithm approach to coverage path planning for mobile robots. In: Computational Science–ICCS 2009, pp. 33–42. Springer (2009)
Lee, T.k., Baek, S.H., Oh, S.y., Choi, Y.H.: Complete coverage algorithm based on linked smooth spiral paths for mobile robots. In: 2010 11th International Conference on Control Automation Robotics & Vision (ICARCV), pp. 609–614. IEEE (2010)
Luo, C., Yang, S.X.: A bioinspired neural network for real-time concurrent map building and complete coverage robot navigation in unknown environments. IEEE Trans. Neural Netw. 19(7), 1279–1298 (2008)
Morales, J., Martinez, J., Mandow, A., Garcia-Cerezo, A., Pedraza, S.: Power consumption modeling of skid-steer tracked mobile robots on rigid terrain. IEEE Trans. Robot. 25(5), 1098–1108 (2009)
Oksanen, T., Visala, A.: Coverage path planning algorithms for agricultural field machines. J. Field Robot. 26(8), 651–668 (2009)
Prassler, E., Kosuge, K.: Domestic robots. In: B. Siciliano, O. Khatib (eds.) Springer Handbook of Robotics, pp. 1253–1281. Springer (2008)
Russell, S.J., Norvig, P.: Artificial Intelligence: A Modern Approach, 3rd edn. Pearson Education, Upper Saddle River (2010)
Ryu, S.W., Lee, Y.H., Kuc, T.Y., Ji, S.H., Moon, Y.S.: A search and coverage algorithm for mobile robot. In: 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 815–821. IEEE (2011)
Schfle, T.R., Mohamed, S., Uchiyama, N., Sawodny, O.: Coverage path planning for mobile robots using genetic algorithm with energy optimization. In: 2016 International Electronics Symposium (IES), pp. 99–104 (2016)
Viet, H.H., Dang, V.H., Laskar, M.N.U., Chung, T.: BA*: an online complete coverage algorithm for cleaning robots. Appl. Intell. 39(2), 217–235 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Dogru, S., Marques, L. (2018). A*-Based Solution to the Coverage Path Planning Problem. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-70833-1_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70832-4
Online ISBN: 978-3-319-70833-1
eBook Packages: EngineeringEngineering (R0)