GrasSmart: An Intelligent Robotic System for Continuous Area Coverage

摘要

This work implements and simulates the problem known as, coverage of a continuous planar area by a mobile robot. The robot is given a bitmap of a known geometric area as an input, and derives an optimal path of coverage by implementing and improving the On-line Full Scan Spanning Tree Covering (STC) algorithm[l]. The path is calculated for the continuous area coverage by defining a DFS (Depth First Search) spanning tree. We improved the STC algorithm by optimizing U-Turns of the path, and optimizing the shifting of the path directions, moreover, we suggest using different sensor information, which reduces errors. The results of our work are presented by a 3D simulation program which mimics the grass robots' path and statistical calculations for testing optimality.