Complete coverage path planning of a random polygon - A FroboMind component
Sebastian Aslund, Kjeld Jensen, Rasmus Nyholm Jørgensen · University of Southern Denmark Research Portal (University of Southern Denmark) · 2011
The aim of this work is to have an universal solution for complete coverage which will be a component in the FroboMind architecture suggested by Kjeld Jensen in [9]. ... Compared to previously work done within the field of coverage path planning this work presents a complete, universal and generic solution where all the steps in the process is included: Segmentation of a data set, creation of a configuration space, decomposition of a polygon, global and local path planning. To achieve this, a series of known algorithms are used including some tweaks and improvements to create a solid foundation for the FroboMind architecture and the agricultural community to explore and develop new algorithms for coverage path planning. Furthermore will the project be tested and verified by implementing it on a vehicle based on the FroboMind architecture.