Detailed Information
Cited 5 time in 
Cited 12 time in 
Cited 12 time in
Metadata Downloads
Complete coverage path planning scheme for autonomous navigation ROS-based robotsopen accessComplete coverage path planning scheme for autonomous navigation ROS-based robots
- Other Titles
- Complete coverage path planning scheme for autonomous navigation ROS-based robots
- Authors
- Zhao, Shengmin; Hwang, Seung-Hoon
- Issue Date
- Feb-2024
- Publisher
- 한국통신학회
- Keywords
- Complete coverage path planning (CCPP); Coverage path method; Dynamic tracking method; Robot operating system (ROS); Simultaneous localization and mapping (SLAM)
- Citation
- ICT Express, v.10, no.1, pp 83 - 89
- Pages
- 7
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- ICT Express
- Volume
- 10
- Number
- 1
- Start Page
- 83
- End Page
- 89
- ISSN
- 2405-9595
2405-9595
- Abstract
- In this paper, a new Complete Coverage Path Planning (CCPP) scheme is proposed which combines path planning and dynamic tracking for robot operating system-based robots. For the path planning, firstly a sub-area division algorithm is considered to decompose the occupancy map according to the wall or obstacle position after simultaneous localization and mapping process. For each sub-area, an “S” shape path planning is employed, and then a Bidirectional A-star connects them. Additionally, the dynamic tracking ensures that the robot moves continuously. Simulation results show that the coverage ratio of the planning path is improved as 98% by the proposed scheme. © 2023 The Authors
- Files in This Item
- There are no files associated with this item.
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Hwang, Seung Hoon
- College of Engineering (Department of Electronics and Electrical Engineering)