Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Indoor coverage path planning: Survey, implementation, analysis

 
: Bormann, Richard; Jordan, Florian; Hampp, Joshua; Hägele, Martin

:
Postprint urn:nbn:de:0011-n-5037832 (3.0 MByte PDF)
MD5 Fingerprint: fff5bd6747a1e5b3963c7d2934814836
© IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Created on: 18.2.2020


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Robotics and Automation Society:
ICRA 2018, IEEE International Conference on Robotics and Automation : 21-25 May 2018, Brisbane Convention & Exhibition Centre
Piscataway, NJ: IEEE, 2018
ISBN: 978-1-5386-3080-8
pp.1718-1725
International Conference on Robotics and Automation (ICRA) <2018, Brisbane>
Bundesministerium fur Wirtschaft und Energie BMWi (Deutschland)
01MT16002A; BakeR
English
Conference Paper, Electronic Publication
Fraunhofer IPA ()
motion planning; path planning; Bewegungsplanung; service robot

Abstract
Coverage Path Planning (CPP) describes the process of generating robot trajectories that fully cover an area or volume. Applications are, amongst many others, mobile cleaning robots, lawn mowing robots or harvesting machines in agriculture. Many approaches and facets of this problem have been discussed in literature but despite the availability of several surveys on the topic there is little work on quantitative assessment and comparison of different coverage path planning algorithms. This paper analyzes six popular off-line coverage path planning methods, applicable to previously recorded maps, in the setting of indoor coverage path planning on room-sized units. The implemented algorithms are thoroughly compared on a large dataset of over 550 rooms with and without furniture.

: http://publica.fraunhofer.de/documents/N-503783.html