Path planning for sensor/tool coverage?

asked 2014-06-25 11:55:28 -0500

lucasw gravatar image

updated 2020-11-21 11:40:08 -0500

Is there any facility for path planning in a way to maximize coverage and minimize total movement over a map area given a robot platform and a tool/sensor of certain properties?

I'm primarily interested in 2D, and have been working on a gridded square cornered zig-zag / type-writer / lawnmower-esque path generation to fill a map partitioned into chunks given the mapped obstacles (the code is all closed/proprietary unfortunately). It ought to work adequately though is sub-optimal, and will probably leave a large uncovered buffer area around most walls and obstacles. Nooks and crannies are going to require a lot more user intervention than I'd prefer.

I'm wondering if there others could be working on an application like lawn mowing, non-random vacuuming, or something similar?

Is there any work with MoveIt for robotic painting or a similar application in 3D using an arm?

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Hey Lucas, I am working on a similar application. However, still could not get it running. Did you make any progress?

gautam2410 gravatar image gautam2410  ( 2015-03-05 14:15:41 -0500 )edit

I did put something together though I can't presently release the code. I did break the map into chunks and ran an optimizer (something off the shelf for python, I think a ros path planner uses it under the hood) to find the shortest route between the chunks.

lucasw gravatar image lucasw  ( 2015-06-15 13:35:12 -0500 )edit

Full coverage path planner

lucasw gravatar image lucasw  ( 2016-02-15 18:29:20 -0500 )edit

Complete coverage path planner

lucasw gravatar image lucasw  ( 2016-02-15 18:30:00 -0500 )edit

Complete coverage path planning ros

lucasw gravatar image lucasw  ( 2016-02-15 18:32:58 -0500 )edit

Hi @lucasw, may I check if you can share your code or maybe documentations on how you implement the coverage planner?

jjbecomespheh gravatar image jjbecomespheh  ( 2020-08-12 04:47:46 -0500 )edit