Improved Complete Coverage Algorithm
Zixing Cai · Jisuanji gongcheng · 2008
An improved complete coverage algorithm based on Acar algorithm is presented for static environment with unknown obstacles.If the walking direction of robot is changed,the critical points can be detected,the neighboring cells of all obstacles are covered by robot according to some rules.When the robot finds concave critical points and both the left and the right convex critical point set are empty,the complete coverage is accomplished.The algorithm can overcome some defects of Acar algorithm.Experiments validate the feasibility and correctness of the algorithm.