CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

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dc.contributor.authorGuruprasad, K.R.
dc.contributor.authorRanjitha, T.D.
dc.date.accessioned2026-02-05T09:27:04Z
dc.date.issued2021
dc.description.abstractA new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided. © 2021 Cambridge University Press. All rights reserved.
dc.identifier.citationRobotica, 2021, 39, 7, pp. 1141-1162
dc.identifier.issn2635747
dc.identifier.urihttps://doi.org/10.1017/S026357472000096X
dc.identifier.urihttps://idr.nitk.ac.in/handle/123456789/23188
dc.publisherCambridge University Press
dc.subjectAgricultural robots
dc.subjectMechanical permeability
dc.subjectArea coverages
dc.subjectCell permeability
dc.subjectCoverage algorithms
dc.subjectCoverage path planning
dc.subjectFormal analysis
dc.subjectRobot operating system
dc.subjectMobile robots
dc.titleCPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition

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