Divide Areas Algorithm For Optimal MultiRobot Coverage Path
Divide Areas Algorithm For Optimal Multi-Robot Coverage Path Planning A. Ch. Kapoutsis, S. A. Chatzichristofis, E. B. Kosmatopoulos, “DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning”, «Journal of Intelligent & Robotic Systems» , Springer.
The multi-robot Coverage Path Planning (m. CPP) Problem Given the following set-up: Obstacles Location Initial Robots position – Starting Cells Calculate: Robots Paths A sequential set of cells for each available robot In order to: Fully coverage the operation area every unoccupied cell Using the minimum amount of energy
The single-robot Coverage Path Planning (CPP) Problem Given the following set-up: Obstacles spreading Initial Robot position – Starting Cell Calculate: Robot Path A sequential set of cells starting from the starting cell In order to: Fully coverage the operation area every unoccupied cell Using the minimum amount of energy
STC - An optimal O(n) algorithm for the single robot case Under the assumption that any obstacle occupy at least 4 cells, the single robot CPP has a dedicated algorithm O(n) to calculate the optimal path Main Steps Group cells in packs of 4 and represent them as nodes. Also, place the corresponding adjacent connections If the 4 -cell node is occupied by obstacle do not add any node or connection Calculate the Minimum Spanning Tree, that traverses all the nodes Move the robot so as to circumnavigate around the constructed MST Reference: Gabriely, Yoav, and Elon Rimon. "Spanning-tree based coverage of continuous areas by a mobile robot. " Annals of Mathematics and Artificial Intelligence 31. 1 -4 (2001): 77 -98.
Reduce the Original m. CPP Problem utilizing STC algorithm
m. CPP problem – Attributes of any optimal path selection (Definition 3 in paper)
Divide Areas based on Robots initial Positions (DARP) Flowchart
An indicative instance of DARP in action • Severe initial robots’ placement
Divide Areas based on Robots initial Positions (DARP) Computational Complexity Analysis
Outline of the Proposed Approach (DARP+STC) Initial Robots and Obstacles Placement Circumnavigate each robot around the corresponding MST
Software Video demonstration and standalone application (. jar) are available http: //tinyurl. com/DARPapp
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