수중 집광 로봇용 수정 스위핑 라인법을 사용한 커버리지 경로계획

Abstract

n this paper, a coverage path planning algorithm for efficient mining of a mining robot in deep-seabed using a new sweeping line strategy is proposed. The proposed coverage path planning algorithm is operated by these four steps. First, binary map is obtained by applying threshold to the given high slope region of the ocean floor. Second, Morse cell decomposition method is applied to decompose the whole area of work space into cells in vertical and horizontal direction. To minimize the turning number, minimal sum of altitudes method is applied to the combination of vertical cell decomposition and horizontal cell decomposition. Third, a spanning tree consisting of edges and nodes is obtained from connection of the decomposed cells. Using the spanning tree, connection type of all nodes is decided and the coverage order is calculated. Fourth, a modified sweeping line strategy is applied to generate a coverage path for the given region. The goal of the proposed coverage path planning using the modified sweeping line strategy is to improve coverage efficiency and to make a shortest path between previous cell and next cell. Simulation results are shown to prove the efficiency of the proposed algorithm.