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Conference Paper
Free Movimg Pattern's Online Spanning Tree Coverage Algorithm
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- Authors
- Sung June Chang, Hyung Ju Dan
- Issue Date
- 2006-10
- Citation
- SICE-ICASE International Joint Conference 2006, pp.2935-2938
- Language
- English
- Type
- Conference Paper
- Abstract
- The coverage path planning algorithm can be defined as making integration the robot's footprint identical to that of the target region[Choset], The spanning tree coverage which is one of the coverage path planning algorithm is proved to be optimal in the sense that there is no repetitive coverage [Gabriely]. But the online version of spanning tree coverage shows spiral moving pattern which can, cause severe localization problems. So we propose a free moving pattern's online spanning tree coverage algorithm which can freely make any moving pattern to lessen the localization or moving pattern's problem and meet the user request. © 2006 ICASE.