Mixed Materials
Squircular-CPP: A Smooth Coverage Path Planning Algorithm based on Squircular Fitting and Spiral Path
| Title: | Squircular-CPP: A Smooth Coverage Path Planning Algorithm based on Squircular Fitting and Spiral Path |
|---|---|
| Authors: | Hassan, M, Liu, D, Chen, X |
| Publisher Information: | IEEE 2020-08-05 |
| Document Type: | Mixed materials |
| Abstract: | Coverage path planning (CPP) is essential for applications such as robotic floor cleaning and high-pressure cleaning of surfaces. Smooth CPP algorithms have several benefits including smoother motion of the robot and the reduction of aggressive accelerations and decelerations resulting from sharp turns. In this paper, a novel smooth CPP algorithm is presented which is named Squircular-CPP. This algorithm proposes a squircular shape, which is an intermediate shape between the circle and the square, to fit a target area. Squircular-CPP can also fit a shape between the ellipse and the rectangle. The shape fitting is simple, fast, and analytical and doesn't require a preselection of the shape (i.e., square, circle, ellipse or rectangle). It enables and complements the creation of a smooth spiral path within the fitted shape. Several case studies are presented to demonstrate the effectiveness of the algorithm and to compare it against the popular boustrophedon-based coverage approach and the Deformable Spiral CPP (DSCPP) algorithm. |
| Index Terms: | Conference Proceeding |
| URL: | 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 10.1109/aim43001.2020.9159023 |
| Availability: | Open access content. Open access content © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. info:eu-repo/semantics/embargoedAccess |
| Other Numbers: | LT1 oai:opus.lib.uts.edu.au:10453/146275 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, 2020-July, pp. 1075-1081 978-1-7281-6795-4 2159-6247 1257436443 |
| Contributing Source: | UNIV OF TECH, SYDNEY From OAIster®, provided by the OCLC Cooperative. |
| Accession Number: | edsoai.on1257436443 |
| Database: | OAIster |
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