Planning Paths of Complete Coverage of an Unstructured Environment by a Mobile Robot

摘要: Abs t rac Much of the focus research effort in path planning for mobile robots has centred on problem finding a from start location to goal location, while minimising one or more parameters such as length path, energy consumption journey time. A complete coverage is planned which robot sweeps all areas free space an environment systematic and efficient manner. Possible applications paths include autonomous vacuum cleaners, lawn mowers, security robots, land mine detectors etc. This paper will present solution this based upon extension distance transform methodology. The been implemented self-contained called Yamabico.