An Integrated Algorithm of CCPP Task for Autonomous Mobile Robot under Special Missions
Caihong Li, Zhiqiang Wang, Chun Fang, Zhenying Liang, Yong Hua Song, Yibin Li · International Journal of Computational Intelligence Systems · 2018
Due to the difficult problem of avoiding obstacles to achieve the complete coverage path planning (CCPP) for special missions, this paper introduces a novel integrated algorithm of CCPP for autonomous mobile robot under an obstacles-included environment.The algorithm combines cellular decomposition approach and the Standard map together for designing.The cellular decomposition approach is used to simplify the given workplace into smaller sub-regions for coverage via a chaotic path planner.The planner is constructed based on the chaotic Standard map at full mapping and produces the needed trajectories inside each decomposed sub-region.The simulation results verify the effectiveness of the designed method.