Coverage Path Planning under the Energy Constraint

Minghan Wei; Volkan I Isler

doi:10.1109/ICRA.2018.8462867

Coverage Path Planning under the Energy Constraint

Minghan Wei, Volkan I Isler

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

48 Scopus citations

Abstract

In the coverage path planning problem, a common assumption is that the robot can fully cover the environment without recharging. However, in reality most mobile robot systems operate under battery limitations. To incorporate this constraint, we consider the problem when the working environment is large and the robot needs to recharge multiple times to fully cover the environment. We focus on a geometric version where the environment is represented as a polygonal grid with a single charging station. Energy consumption throughout the environment is assumed to be uniform and proportional to the distance traveled. We first present a constant-factor approximation algorithm for contour-connected environments. We then extend the algorithm for general environments. We also validate the results in experiments performed with an aerial robot.

Original language	English (US)
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	368-373
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8462867
State	Published - Sep 10 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: May 21 2018 → May 25 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

Bibliographical note

Funding Information:
This work is supported in part by NSF Award # 1525045, a MnDrive RSAM Industrial Partnership grant with The Toro Company and a grant from Minnesota State LCCMR Program.

Publisher Copyright:
© 2018 IEEE.

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Coverage Path Planning under the Energy Constraint. / Wei, Minghan; Isler, Volkan I.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 368-373 8462867 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wei, M & Isler, VI 2018, Coverage Path Planning under the Energy Constraint. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8462867, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 368-373, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8462867

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abstract = "In the coverage path planning problem, a common assumption is that the robot can fully cover the environment without recharging. However, in reality most mobile robot systems operate under battery limitations. To incorporate this constraint, we consider the problem when the working environment is large and the robot needs to recharge multiple times to fully cover the environment. We focus on a geometric version where the environment is represented as a polygonal grid with a single charging station. Energy consumption throughout the environment is assumed to be uniform and proportional to the distance traveled. We first present a constant-factor approximation algorithm for contour-connected environments. We then extend the algorithm for general environments. We also validate the results in experiments performed with an aerial robot.",

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Coverage Path Planning under the Energy Constraint

Abstract

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Bibliographical note

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