Conference Papers

Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506

Browse

Author: search.filters.author.Guruprasad, K.R.Subject: search.filters.subject.Coverage path planning

Search Results

Now showing 1 - 5 of 5
  • No Thumbnail Available
    Item
    ST-CTC: A spanning tree-based competitive and truly complete coverage algorithm for mobile robots
    (Association for Computing Machinery acmhelp@acm.org, 2015) Guruprasad, K.R.; Ranjitha, T.D.
    In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. While in most coverage algorithms using approximate cellular decomposition, only a resolution-complete coverage is achievable, the proposed algorithm achieves complete coverage in true sense by covering even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is implemented at graph level in Matlab. Further, the performance of the proposed algorithm is compared with that of STC and Competitive-STC, two representative approximate cellular decomposition based coverage algorithms reported in the literature. © 2015 ACM.
  • No Thumbnail Available
    Item
    A repartitioning algorithm to guarantee complete, non-overlapping planar coverage with multiple robots
    (Springer Verlag service@springer.de, 2016) Hungerford, K.; Dasgupta, P.; Guruprasad, K.R.
    We consider the problem of coverage path planning in an initially unknown or partially known planar environment using multiple robots. Previously, Voronoi partitioning has been proposed as a suitable technique for coverage path planning where the free space in the environment is partitioned into non-overlapping regions called Voronoi cells based on the initial positions of the robots, and one robot is allocated to perform coverage in each region. However, a crucial problem arises if such a partitioning scheme is used in an environment where the location of obstacles is not known a priori—while performing coverage, a robot might perceive an obstacle that occludes its access to portions of its Voronoi cell and this obstacle might prevent the robot from completely covering its allocated region. This would either result in portions of the environment remaining uncovered or requires additional path planning by robots to cover the disconnected regions. To address this problem, we propose a novel algorithm that allows robots to coordinate the coverage of inaccessible portions of their Voronoi cell with robots in neighboring Voronoi cells so that they can repartition the initial Voronoi cells and cover a set of contiguous, connected regions. We have proved analytically that our proposed algorithm guarantees complete, non-overlapping coverage. We have also quantified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it successfully performs complete, non-overlapping coverage. © Springer Japan 2016.
  • No Thumbnail Available
    Item
    Pseudo spanning tree-based complete and competitive robot coverage using virtual nodes
    (Elsevier B.V., 2016) Ranjitha, T.D.; Guruprasad, K.R.
    In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. The algorithm uses spanning tree on adjacency graph formed by the decomposed cells. We introduce a concept of a virtual node corresponding to a partially occupied cell, leading to a pseudo spanning tree. Unlike the existing approximate cellular decomposition based coverage algorithms reported in the literature, the proposed algorithm ensures complete coverage of even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is illustrated using examples comparing its coverage performance with that of the STC and Competitive-STC algorithms, two spanning tree based coverage algorithms using approximate cellular decomposition reported in the literature. © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
  • No Thumbnail Available
    Item
    X-STC: An extended spanning tree-based coverage algorithm for mobile robots
    (Association for Computing Machinery, 2019) Guruprasad, K.R.
    In this paper, we propose a simple extension to the spanning tree based coverage (STC) algorithm for a mobile robot. The proposed extended spanning tree based coverage (X-STC) algorithm attempts to cover even the partially occupied cells, unlike the spiral-STC, the basic STC algorithm. The properties of the X-STC algorithms are discussed and illustrated with examples. We compare the coverage performance of the proposed X-STC algorithm with two existing STC based algorithms, namely spiral-STC and full-STC. The results show that the proposed algorithm substantially improves the amount of coverage compared to that with the existing STC based algorithms. © 2019 Association for Computing Machinery.
  • No Thumbnail Available
    Item
    Application of Coverage Path Planning Algorithm for Milling Operations
    (Springer, 2020) Kalburgi, S.; Nair, V.G.; Guruprasad, K.R.
    In this paper, we present an algorithm for automatic tool path generation for milling operations, where, the ‘cutter’ needs to pass through all the region that is required to be removed, without any gaps. We demonstrate the possibility of using mobile robot coverage path planning (CPP) algorithms for such applications. In the place of the robot footprint size that is used in a mobile robot CPP algorithm, here we use the size (diameter) of the tool as basis for the tool path generation. Here, we use a spanning tree-based competitive and truly complete robot coverage path planning algorithm, which is based on the approximate cellular decomposition. The proposed algorithm is first tested in V-Rep simulation environment with an arbitrary work piece and then real-time experiments were carried out on a CNC machine to demonstrate the proposed algorithm. © 2020, Springer Nature Singapore Pte Ltd.