부스트로피돈 셀 분해 기법을 이용한 집광기의 집광 경로 계획법에 관한 연구

Abstract

The miner is remotely operated self-propelled tracked vehicle for collecting deep-sea manganese nodules. The miner sweeps a 2-dimensional mining area by its collecting device in a given region. And it is required that the miner path is maximized for sweeping coverage efficiency. The mining area is extremely soft cohesive deep-seabed. So some constraints exit in path definition. The boustrophedon cellular decomposition is a generalization of the trapezoidal decomposition that is adapted to boustrophedon sweeping motion. The boustrophedon cellular decomposition is a advanced type of decomposition where the robot's(or vehicle's) free space is broken down into cells such that the robot can cover each cell with back-and-forth boustrophedon motions. In this paper, the boustrophedon cellular decomposition method for mining path is considered. We than discuss the needs of simulation tool to develop and verify the optimal mining path planning.