A Herd Foraging-Based Adaptive Coverage Path Planning in Unbounded Environments

Document Type

Conference Proceeding

Publication Date

1-1-2022

Abstract

Coverage path planning is important in helping us perform such tasks as map construction and criminal capture. As an outstanding method, predator-prey coverage path planning employs a predator-prey mechanism to enable a robot to adaptively cover an arbitrary 2-D surface with dynamic obastacles. However, it is designed for bounded environments only and cannot work in unbounded environments. Inspired by the foraging behavior of herds in nature, this work proposes an adaptive coverage path planning algorithm suitable for unbounded environments, called herd foraging-based coverage path planning. It employs a virtual herd to control the overall coverage direction of a robot, allowing it to be applied in unbounded environments. The experimental results demonstrate its effectiveness in unbounded environments.

Identifier

85142764777 (Scopus)

ISBN

[9781665452588]

Publication Title

Conference Proceedings IEEE International Conference on Systems Man and Cybernetics

External Full Text Location

https://doi.org/10.1109/SMC53654.2022.9945206

ISSN

1062922X

First Page

2062

Last Page

2066

Volume

2022-October

Grant

20511100500

Fund Ref

National Natural Science Foundation of China

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