A novel offline coverage path planning algorithm for a tethered robot

Abstract

This paper presents a solution to the problem of 2D coverage path planning (CPP) for a tethered robot where the tether is of a constraint length connected to a fixed point in a known environment. Limited research has been done in this problem area hence there is a lack of algorithms providing CPP in the literature. CPP algorithms are highly useful in various applications such as search and rescue robots, cleaning robots, area exploration robots, agricultural robots and lawn maintenance robots. The path planning algorithm discussed here can be used in an environment having a defined boundary with an a priori map. The given algorithm enables the robot to take an optimum path while detecting, avoiding static obstacles and preventing entanglements of the tether. An occupancy grid map based approach is used here. The algorithm is applicable to a system with a mechanism to retract and extend the tether when required either mounted on the robot or a fixed base. The proposed novel algorithm to the problem assures coverage of all accessible grids in the map. The implementation and the scalability of the algorithm has also been validated using simulation in MATLAB.