Complete coverage path planning scheme for autonomous navigation ROS-based robots

Shengmin Zhao; Seung Hoon Hwang

doi:10.1016/j.icte.2023.06.009

Complete coverage path planning scheme for autonomous navigation ROS-based robots

Shengmin Zhao
, Seung Hoon Hwang

Department of Electronics & Electrical Engineering

Dongguk University

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposed scheme.

Original language	English
Pages (from-to)	83-89
Number of pages	7
Journal	ICT Express
Volume	10
Issue number	1
DOIs	https://doi.org/10.1016/j.icte.2023.06.009
State	Published - Feb 2024

Keywords

Complete coverage path planning (CCPP)
Coverage path method
Dynamic tracking method
Robot operating system (ROS)
Simultaneous localization and mapping (SLAM)

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10.1016/j.icte.2023.06.009

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title = "Complete coverage path planning scheme for autonomous navigation ROS-based robots",

abstract = "In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98\% by the proposed scheme.",

keywords = "Complete coverage path planning (CCPP), Coverage path method, Dynamic tracking method, Robot operating system (ROS), Simultaneous localization and mapping (SLAM)",

author = "Shengmin Zhao and Hwang, \{Seung Hoon\}",

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AU - Hwang, Seung Hoon

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AB - In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposed scheme.

KW - Complete coverage path planning (CCPP)

KW - Coverage path method

KW - Dynamic tracking method

KW - Robot operating system (ROS)

KW - Simultaneous localization and mapping (SLAM)

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VL - 10

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JO - ICT Express

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Complete coverage path planning scheme for autonomous navigation ROS-based robots

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Keywords

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