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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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 |
work_keys_str_mv |
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