Coverage Path Planning: The Boustrophedon Cellular Decomposition
Pages: 203 - 209
Published: Jan 1, 1998
Abstract
Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applications include vacuuming, floor scrubbing, and inspection. We developed the boustrophedon cellular decomposition, which is an exact cellular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon is covered with simple back and forth motions. Once each cell is covered, then the...
Paper Details
Title
Coverage Path Planning: The Boustrophedon Cellular Decomposition
Published Date
Jan 1, 1998
Pages
203 - 209
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