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how to complete coverage path?

asked 2018-06-04 04:49:28 -0500

updated 2018-06-04 04:51:36 -0500

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hello,as you see in the picture. I just wanna a optimal coverage algorithm.the robot start from the top left corner and walk a path looks like "S"(is it called U-turn algorithm?),and now I have two questions

1.how can I know that the robot has covered the rectangle when robot arrive the top right corner?

2.how can I find the uncovered area ( blank rectangle in the left bottom) in the large rectangle? (maybe max rectangle algorithm can be used?)

I have read some paper about coverage path planning,but I still could not figure it out. And I know a lot about path planning algorithm(Dijkstra,A star,D star and so on).

I have tried to accomplish this base on navigation_stack and costmap,but the two problems above have not been solved.and this path are grid-based,

finally, thanks.

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i think i almost figure it out, there is a paper talk about this

pengjiawei gravatar image pengjiawei  ( 2018-06-04 20:33:42 -0500 )edit

It depends if you want to use a map or not (thus, occupancy grid, costmap etc). If you are using a costmap then you can create a layer and apply a new cost for the explored cells and then compare your layer with your costmap to see if there are still unexplored cells.

Delb gravatar image Delb  ( 2018-06-05 02:01:28 -0500 )edit

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answered 2018-07-12 13:17:10 -0500

rafaelbarretorb gravatar image

Hi,

One good work about Complete Coverage Path Planning using Boustrophedon Motions you can find in the article: "BA*: an online complete coverage algorithm for cleaning robots". I think is one the best options for the problem that you are trying to solve. I don't have the implementation using ROS.

https://link.springer.com/content/pdf...

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Asked: 2018-06-04 04:49:28 -0500

Seen: 827 times

Last updated: Jun 04 '18