Physical Sciences and Mathematics Commons^™

Multi-Robot Complete Coverage Using Directional Constraints, Stefanus Malan

CCE Theses and Dissertations

Complete coverage relies on a path planning algorithm that will move one or more robots, including the actuator, sensor, or body of the robot, over the entire environment. Complete coverage of an unknown environment is used in applications like automated vacuum cleaning, carpet cleaning, lawn mowing, chemical or radioactive spill detection and cleanup, and humanitarian de-mining.

The environment is typically decomposed into smaller areas and then assigned to individual robots to cover. The robots typically use the Boustrophedon motion to cover the cells. The location and size of obstacles in the environment are unknown beforehand. An online algorithm using sensor-based …