심해저 망간단괴 집광기의 영역 경로 계획법에 관한 기초 연구

Abstract

In this paper, we discuss coverage path planning algorithm for MineRo. The MineRo is test miner for deep-sea manganese nodule mining. Sweeping motions are MineRo's mining task. The sweeping path makes coverage area in target region. For the optimal coverage path planning, the MineRo should have maximum coverage efficiency. A survey study of coverage path planning algorithm is introduced in this paper about mobile robot art-of-state. The Boustrophedon cellular decompositions for coverage algorithm is considered. We then take the needs of simulation tool to develop and verify the optimal coverage path planning algorithm into account.