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심해저 망간단괴 집광기의 영역 경로 계획법에 관한 기초 연구A Preliminary Study of Coverage Path Planning Algorithm for the Deep-sea Manganese Nodule Miner
- Other Titles
- A Preliminary Study of Coverage Path Planning Algorithm for the Deep-sea Manganese Nodule Miner
- Issue Date
- 31-5월-2010
- Publisher
- 한국해양연구원
- Keywords
- Coverage; Path planning; MineRo; Boustrophedon cellular decompo
- Citation
- 선박해양기술, v.1, no.49, pp 107 - 114
- Pages
- 8
- Journal Title
- 선박해양기술
- Volume
- 1
- Number
- 49
- Start Page
- 107
- End Page
- 114
- 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.
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