Geodesic-vpc: spatial partitioning for multi-robot coverage problem.

Nair, Vishnu G and Guruprasad, K R (2020) Geodesic-vpc: spatial partitioning for multi-robot coverage problem. International Journal of Robotics and Automation, 35 (3). pp. 189-198. ISSN 0826-8185

[img] PDF
8613.pdf - Published Version
Restricted to Registered users only

Download (3MB) | Request a copy

Abstract

In this paper, we address a problem of area coverage using multiple cooperating robots using a “partition and cover approach, where the area of interest is decomposed into as many cells as the robots, and each robot is assigned the task of covering a cell. While the most partitioning approaches used in the literature in the context of a robotic coverage problem may result in topologically disconnected cells in the presence of obstacles leading to incomplete coverage, we propose to use geodesic distance-based generalization of the Voronoi partition, ensuring that each cell that is allotted for a robot for coverage is a topologically connected region, and hence, achieving a complete coverage. The proposed multi-robot coverage strategy is demonstrated with simulation in MATLAB and V-rep simulator, using two single-robot coverage algorithms reported in the literature, namely boustrophedon decomposition-based coverage and spanning tree-based coverage algorithms.

Item Type: Article
Uncontrolled Keywords: Coverage path planning, geodesic distance, Voronoi partitioning
Subjects: Engineering > MIT Manipal > Aeronautical and Automobile
Engineering > MIT Manipal > Mechanical and Manufacturing
Depositing User: MIT Library
Date Deposited: 25 Jun 2020 10:54
Last Modified: 25 Jun 2020 10:54
URI: http://eprints.manipal.edu/id/eprint/155349

Actions (login required)

View Item View Item