CPC algorithm: Exact area coverage by a mobile robot using approximate cellular decomposition†

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DC Field	Value	Language
dc.contributor.author	Guruprasad K.R.
dc.contributor.author	Ranjitha T.D.
dc.date.accessioned	2021-05-05T10:26:51Z	-
dc.date.available	2021-05-05T10:26:51Z	-
dc.date.issued	2020
dc.identifier.citation	Robotica , Vol. , , p. -	en_US
dc.identifier.uri	https://doi.org/10.1017/S026357472000096X
dc.identifier.uri	http://idr.nitk.ac.in/jspui/handle/123456789/15294	-
dc.description.abstract	A 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. © The Author(s), 2020. Published by Cambridge University Press.	en_US
dc.title	CPC algorithm: Exact area coverage by a mobile robot using approximate cellular decomposition†	en_US
dc.type	Article	en_US
Appears in Collections:	1. Journal Articles

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