Complete Coverage Path Planning of Mobile Robot based on Partition of Unity Method
Yihua Chen · Equipment Manufacturing Technology · 2014
We focused on the problem of the complete coverage path planning of mobile robot. The environment model which is based on Boustrophedon partition of unity method can divided the environmental map into some sub domain. Each sub domain only has one homologues basis point. We proposed a method which is based on Neighborhood algorithm to traverse path planning. We can estimate whether the sub domain is completely traversed by searching the basis points. First, we traverse the basal path planning. Second, we search the basis point in the environmental map and confirm whether the missing basis point is existed. The basis point we found is the representative of its sub domain. Third, we traverse the second layer of sub domain if they are existed.