Complete coverage path planning algorithm based on energy compensation and obstacle vectorization

作者：

Highlights：

• A novel CCPP algorithm, Energy Compensation and Obstacle Vectorization, is proposed.

• We found and classified areas easily missed by robots.

• Energy reconstruction of the easily missed areas enhances the path indices.

• The concept of map parity that causes path indices to fluctuate greatly is proposed.

• The proposed algorithm is less influenced by map parity than previous algorithms.

摘要

•A novel CCPP algorithm, Energy Compensation and Obstacle Vectorization, is proposed.•We found and classified areas easily missed by robots.•Energy reconstruction of the easily missed areas enhances the path indices.•The concept of map parity that causes path indices to fluctuate greatly is proposed.•The proposed algorithm is less influenced by map parity than previous algorithms.

论文关键词：Complete coverage path planning,Energy map,Energy compensation,Obstacle vectorization,Map parity

论文评审过程：Received 3 August 2021, Revised 30 April 2022, Accepted 30 April 2022, Available online 7 May 2022, Version of Record 11 May 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.117495