Study of coverage path planning based on grid-map
Qingcheng Huang · Jisuanji yingyong yanjiu · 2007
This paper studied the coverage for the robot with contact sensors,and proposed the internal spiral coverage(ISC) algorithm based on grid-map.There were two stages in ISC: in the first stage the robot explored along the boundary of the environment,and in the second stage the robot planed the coverage path on-line.Using distance transform approach guaranteed complete coverage,and reduced the repeat coverage by setting the gate grids.Then the simulation result proved the feasibility in which the robot covered the indoor environment completely that was made up of three rooms.