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https://idr.nitk.ac.in/jspui/handle/123456789/6644
Title: | ST-CTC: A spanning tree-based competitive and truly complete coverage algorithm for mobile robots |
Authors: | Guruprasad, K.R. Ranjitha, T.D. |
Issue Date: | 2015 |
Citation: | ACM International Conference Proceeding Series, 2015, Vol.02-04-July-2015, , pp.- |
Abstract: | 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. |
URI: | http://idr.nitk.ac.in/jspui/handle/123456789/6644 |
Appears in Collections: | 2. Conference Papers |
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