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Online complete coverage path planning using two-way proximity search

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Abstract

This paper presents an efficient online approach for complete coverage path planning of mobile robots in an unknown workspace based on online boustrophedon motion and an optimized backtracking mechanism. The presented approach first performs a single continuous boustrophedon motion until a critical point is reached. In order to completely cover the environment, next starting point is decided by using the accumulated knowledge of the environment map. An efficient backtracking technique based on proposed Two-way Proximity Search algorithm is used to plan a path from the critical point to the new starting point. Simulation results show the efficiency of proposed backtracking approach with improved total coverage time, coverage path length and memory requirements.

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Acknowledgements

This study is supported by the research grant of Higher Education Commission (HEC) of Pakistan (No. 20-2359/NRPU/R&D/HEC/12-6779) and partly supported by a project of Korean government (No. 10073166).

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Authors and Affiliations

  1. COMSATS Institute of Information Technology, Lahore, Pakistan

    Amna Khan, Iram Noreen & Zulfiqar Habib

  2. Division of Advanced Mechanical Engineering, Kangwon National University, Chuncheon, Korea

    Hyejeong Ryu

  3. School of Electrical Engineering, Korea University, Seoul, Korea

    Nakju Lett Doh

Authors
  1. Amna Khan
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  2. Iram Noreen
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  3. Hyejeong Ryu
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  4. Nakju Lett Doh
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  5. Zulfiqar Habib
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Correspondence to Zulfiqar Habib.

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Khan, A., Noreen, I., Ryu, H. et al. Online complete coverage path planning using two-way proximity search. Intel Serv Robotics 10, 229–240 (2017). https://doi.org/10.1007/s11370-017-0223-z

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  • DOI: https://doi.org/10.1007/s11370-017-0223-z

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