Energy Efficient Coverage Path Planning for Autonomous Mobile Robots on 3D Terrain

被引：31

作者：

Dogru, Sedat ^{[1
]}

Marques, Lino ^{[1
]}

机构：

[1] Univ Coimbra, Inst Syst & Robot, Dept Elect & Comp Engn, P-3030290 Coimbra, Portugal

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2015年

关键词：

ALGORITHMS;

D O I：

10.1109/ICARSC.2015.23

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Coverage Path Planning (CPP) is an essential problem in many applications of robotics, including but not limited to autonomous de-mining and farming. Most works on CPP address time efficiency or coverage completeness in a bi-dimensional and flat environment, not taking the terrain relief into account. In this paper we use a Genetic Algorithm to optimize the solution to the CPP problem in terms of energy consumption, taking into account the constraints of natural terrains: obstacles and relief. Simulation results show that our approach is effective in reducing energy consumption of a mobile robot performing CPP.

引用

页码：118 / 123

页数：6

共 18 条

[1] Morse decompositions for coverage tasks [J].