A Sub-region Based Method of Building Environmental Model of Complete Coverage Path Planning of Mobile Robot
Jian Wang · 2004
This paper studied the method of building environmental model of mobile robot in a region with obstacles. It took the walking path, region dividing and sub-region linking into account together to achieve the optimized path planning. In details, the paper submitted ″double-line-sweep″ method to divide the region, chose ″inner spiral path″ as walking path in sub-region, made adjacent graph to describe the divided region, applied the method of solving traveling salesman problem to obtain optimized complete coverage path planning.