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Efficient Coverage Algorithm based-on Grouping for Autonomous Intelligent Robots

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2008, 13(2), pp.242-250
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Heung Seok Jeon 1 Sam H. Noh 2

1건국대학교
2홍익대학교

Accredited

ABSTRACT

The coverage algorithm based on Boustrophedon path has been known to be the most efficient in places without or less obstacles If the map of an environmental area thru SLAM algorithm can be obtainable . However, the efficiency of the coverage algorithm based on Boustrophedon path drops drastically when obstacles are complex. In this paper, we propose and implement a new algorithm, which we call Group-k, that efficiently handles the complex area. The Group-k algorithm groups the obstacles and prioritizes the covering sequences with complex rank of the groups. Implementation-based experiments show about 20% improved performance when applying the new algorithm, compared to the Boustrophedon path algorithm.

Citation status

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