Morse 셀 분할법을 이용한 비평지 환경의 커버리지를 위한 경로추종 방법

Abstract

This paper proposes a path planning algorithm for a lawnmower type of underwater mining robot to coverage uneven 3D natural terrain structures of the ocean floor to collect its minerals based on Morse cell decomposition method. The sudden depth changes of ocean floor should be considered in path planning. To do this task the followings are done. Firstly, the high slope regions are detected and treated as obstacle. Secondly, Morse cell decomposition method is applied to divide the whole area in work space of the ocean floor into smaller areas based on the obstacles positions. Finally, a shortest coverage path is planned based on spanning tree. The simulation results shows that the proposed algorithm successfully generates the shortest coverage path for a lawnmower type of underwater mining robot to coverage uneven 3D natural terrain.epth changes of ocean floor should be considered in path planning. To do this task the followings are done. Firstly, the high slope regions are detected and treated as obstacle. Secondly, Morse cell decomposition method is applied to divide the whole area in work space of the ocean floor into smaller areas based on the obstacles positions. Finally, a shortest coverage path is planned based on spanning tree. The simulation results shows that the proposed algorithm successfully generates the shortest coverage path for a lawnmower type of underwater mining robot to coverage uneven 3D natural terrain.