Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

following a boustrophedon path in a given room with obstacles

Hi all,

I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from Rotary encoders and IMU using robot_pose_ekf. I am using amcl for localization and move_base for planning. Now, I have to write a Complete coverage Path planning algorithm and I am following this paper and I would like to ask what is the best way to generate the Boustrophedon path (simple forward and backward motions) in a cell (can be rectangular, trapezium, etc.) with no obstacles? If someone can suggest how to implement it in ROS, that will be great.

Please let me know if you need more information from me. Any help will be appreciated.

Thanks in advance.
Naman Kumar

following a boustrophedon path in a given room with obstacles

Hi all,

I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from Rotary encoders and IMU using robot_pose_ekf. I am using amcl for localization and move_base for planning. Now, I have to write a Complete coverage Path planning algorithm and I am following this paper and I would like to ask what is the best way to generate the Boustrophedon path (simple forward and backward motions) in a cell (can be rectangular, trapezium, etc.) with no obstacles? If someone can suggest how to implement it in ROS, that will be great.

Update:
In cases like shown here (taken from here):
image description

To come up with divisions in the 2nd or 3rd cell (center top or center bottom), I dont know whether knowing all the corner points will be enough (I might be wrong) or should we have all the boundary points (If yes, I am not sure how exactly to find it). Does anyone have any idea how to generate boustrophedon path in a cell like this?

Please let me know if you need more information from me. Any help will be appreciated.

Thanks in advance.
Naman Kumar