頭地経路を含む分散エリアカバレッジ経路計画
Distributed area coverage path planning subject to the inclusion of a headland path
非凸領域や障害物を含むエリアを複数ロボットで完全にカバーするため、頭地経路を考慮した分散経路計画手法を提案し、ブーストロフェドン法との比較で有効性を示した。
著者: Mogens Plessen
分類: cs.RO
原文アブストラクト
A deterministic method for the problem of distributed area coverage path planning subject to the inclusion of a headland path is presented. Given a, in general, non-convex area to be covered that may, in general, include obstacle areas, multiple robots, at least one robot depot, and constraints on each machinery such as a working width, work capacity limits, travel capacity limits, nonholonomic dynamical constraints and, possibly, a robot start and end depot assignment, distributed paths for each machinery are calculated that collectively enable full area coverage. Variations are discussed, in particular, a scenario where unconstrained depots assignment can attain a global optimal solution to the problem. The importance of inclusion of a headland path for area coverage, as well as the benefits in comparison to an alternative Boustrophedon-pattern based approach are highlighted.