期刊
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷 17, 期 2, 页码 -出版社
SAGE PUBLICATIONS INC
DOI: 10.1177/1729881420914441
关键词
Floor cleaning robot; reconfigurable mechanism; coverage path planning; Tetris tiling theory
类别
资金
- National Robotics R&D Programme Office, Singapore [RGAST1907]
Coverage path planning technique is an essential ingredient in every floor cleaning robotic systems. Even though numerous approaches demonstrate the benefits of conventional coverage motion planning techniques, they are mostly limited to fixed morphological platforms. In this article, we put forward a novel motion planning technique for a Tetris-inspired reconfigurable floor cleaning robot named hTetro that can reconfigure its morphology to any of the seven one-sided Tetris pieces. The proposed motion planning technique adapts polyomino tiling theory to tile a defined space, generates reference coordinates, and produces a navigation path to traverse on the generated tile-set with an objective of maximizing the area coverage. We have summarized all these aspects and concluded with experiments in a simulated environment that benchmarks the proposed technique with conventional approaches. The results show that the proposed motion planning technique achieves significantly higher performance in terms of area recovered than the traditional methods.
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