Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor

Advancing an efficient coverage path planning in robots set up for application such as cleaning, painting and mining are becoming more crucial. Such drive in the coverage path planning field proposes numerous techniques over the past few decades. However, the proposed approaches were only applied an...

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Main Authors: Anh Vu Le, Veerajagadheswar Prabakaran, Vinu Sivanantham, Rajesh Elara Mohan
Format: Article
Language:English
Published: MDPI AG 2018-08-01
Series:Sensors
Subjects:
Online Access:http://www.mdpi.com/1424-8220/18/8/2585
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spelling doaj-a7068bb7a86a4678afa4c53c901d6f352020-11-24T20:52:32ZengMDPI AGSensors1424-82202018-08-01188258510.3390/s18082585s18082585Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser SensorAnh Vu Le0Veerajagadheswar Prabakaran1Vinu Sivanantham2Rajesh Elara Mohan3Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeEngineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeEngineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeEngineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeAdvancing an efficient coverage path planning in robots set up for application such as cleaning, painting and mining are becoming more crucial. Such drive in the coverage path planning field proposes numerous techniques over the past few decades. However, the proposed approaches were only applied and tested with a fixed morphological robot in which the coverage performance was significantly degraded in a complex environment. To this end, an A-star based zigzag global planner for a novel self-reconfigurable Tetris inspired cleaning robot (hTetro) presented in this paper. Unlike the traditional A-star algorithm, the presented approach can generate waypoints in order to cover the narrow spaces while assuming appropriate morphology of the hTtero robot with the objective of maximizing the coverage area. We validated the efficiency of the proposed planning approach in the Robot Operation System (ROS) Based simulated environment and tested with the hTetro robot in real-time under the controlled scenarios. Our experiments demonstrate the efficiency of the proposed coverage path planning approach resulting in superior area coverage performance in all considered experimental scenarios.http://www.mdpi.com/1424-8220/18/8/2585reconfigurable mechanismfloor cleaning robotarea coveragepath planningfeature mapping
collection DOAJ
language English
format Article
sources DOAJ
author Anh Vu Le
Veerajagadheswar Prabakaran
Vinu Sivanantham
Rajesh Elara Mohan
spellingShingle Anh Vu Le
Veerajagadheswar Prabakaran
Vinu Sivanantham
Rajesh Elara Mohan
Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
Sensors
reconfigurable mechanism
floor cleaning robot
area coverage
path planning
feature mapping
author_facet Anh Vu Le
Veerajagadheswar Prabakaran
Vinu Sivanantham
Rajesh Elara Mohan
author_sort Anh Vu Le
title Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
title_short Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
title_full Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
title_fullStr Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
title_full_unstemmed Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor
title_sort modified a-star algorithm for efficient coverage path planning in tetris inspired self-reconfigurable robot with integrated laser sensor
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2018-08-01
description Advancing an efficient coverage path planning in robots set up for application such as cleaning, painting and mining are becoming more crucial. Such drive in the coverage path planning field proposes numerous techniques over the past few decades. However, the proposed approaches were only applied and tested with a fixed morphological robot in which the coverage performance was significantly degraded in a complex environment. To this end, an A-star based zigzag global planner for a novel self-reconfigurable Tetris inspired cleaning robot (hTetro) presented in this paper. Unlike the traditional A-star algorithm, the presented approach can generate waypoints in order to cover the narrow spaces while assuming appropriate morphology of the hTtero robot with the objective of maximizing the coverage area. We validated the efficiency of the proposed planning approach in the Robot Operation System (ROS) Based simulated environment and tested with the hTetro robot in real-time under the controlled scenarios. Our experiments demonstrate the efficiency of the proposed coverage path planning approach resulting in superior area coverage performance in all considered experimental scenarios.
topic reconfigurable mechanism
floor cleaning robot
area coverage
path planning
feature mapping
url http://www.mdpi.com/1424-8220/18/8/2585
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