Coverage Path Planning with Minimum Cost Suitable for Sidewalk
Lifeng Zhang, Jixiang Su, Chao Xu, Tao He · 2023
The coverage path planning problem aims to find a route that can avoid all obstacles and pass through all points in the region of interest. In this article, we propose a method for solving path coverage of robots in pedestrian scenes. Firstly, this method can select the optimal coverage path between the roadside trees on the sidewalk based on the performance of the robot. Secondly, the proposed method greatly improves the efficiency of path generation in curved scenes, without generating too many turning paths due to too many vertices in the bends. Finally, the optimal path connection method and pruning method were proposed. Our planner achieved an average 27% lower path cost than the improved traditional coverage planner.