Corpus ID: 237563152

Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning

  title={Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning},
  author={Megnath Ramesh and Frank Imeson and Barış Fidan and Stephen L. Smith},
In this paper, we tackle the problem of generating a turn-minimizing coverage plan for a robot operating in an indoor environment. In coverage planning, the number of turns in the generated path affects the time to cover the environment and the quality of coverage, e.g. tools like cameras and cleaning attachments commonly have poor performance around turns. In many existing turn-minimizing coverage methods, the environment is partitioned into the least number of ranks, which are non… Expand

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