Terrain Coverage Motion Planning of Mobile Robots Based on Online Graph Search
Bin Xie, Shirong Liu · Huadong Li-Gong Daxue xuebao · 2007
An online graph search approach based on an improved Node Counting is presented for the complete terrain coverage motion planning of mobile robots.The proposed method speeds up the search in the work space of a mobile robot by enlarging the local search space.The search efficiency of the proposed method is superior to the one of the Node Counting.The design procedures of the main modules of the simulation system are given,and it is implemented using Java language.Simulations show that the proposed method has an obviously better performance,and it still has good robustness if the robot is kidnapped or the pheromones are erased.