An Integrated Algorithm of CCPP Task for Autonomous Mobile Robot under Special Missions

Abstract

Due to the difficult problem of avoiding obstacles to achieve the complete coverage path planning (CCPP) for special missions, this paper introduces a novel integrated algorithm of CCPP for autonomous mobile robot under an obstacles-included environment. The algorithm combines cellular decomposition approach and the Standard map together for designing. The cellular decomposition approach is used to simplify the given workplace into smaller sub-regions for coverage via a chaotic path planner. The planner is constructed based on the chaotic Standard map at full mapping and produces the needed trajectories inside each decomposed sub-region. The simulation results verify the effectiveness of the designed method.