Coverage Path Planning for Mobile Cleaning Robots

  title={Coverage Path Planning for Mobile Cleaning Robots},
  author={Marten Waanders},
In this paper a path planning algorithms for a mobile cleaning robot is developed. An exact cellular decomposition divides an environment in multiple smaller regions called cells. To produce an efficient cleaning path, the order in which these cells are cleaned is important. This paper describes how the optimalization of this path can be formulated as a Traveling Salesman Problem. Furthermore an exact cellular decomposition called the Boustrophedon cellular decomposition is expanded to handle… CONTINUE READING
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