Coverage Path Planning under the Energy Constraint

Minghan Wei, Volkan I Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

Abstract

In the coverage path planning problem, a common assumption is that the robot can fully cover the environment without recharging. However, in reality most mobile robot systems operate under battery limitations. To incorporate this constraint, we consider the problem when the working environment is large and the robot needs to recharge multiple times to fully cover the environment. We focus on a geometric version where the environment is represented as a polygonal grid with a single charging station. Energy consumption throughout the environment is assumed to be uniform and proportional to the distance traveled. We first present a constant-factor approximation algorithm for contour-connected environments. We then extend the algorithm for general environments. We also validate the results in experiments performed with an aerial robot.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages368-373
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/TerritoryAustralia
CityBrisbane
Period5/21/185/25/18

Bibliographical note

Funding Information:
This work is supported in part by NSF Award # 1525045, a MnDrive RSAM Industrial Partnership grant with The Toro Company and a grant from Minnesota State LCCMR Program.

Publisher Copyright:
© 2018 IEEE.

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