An Improved STC-Based Full Coverage Path Planning Algorithm for Cleaning Tasks in Large-Scale Unstructured Social Environments
Chao Wang, Wei Dong, Renjie Li, Hui Dong, Huajian Liu, Yongzhuo Gao · 2024
Read An Improved STC-Based Full Coverage Path Planning Algorithm for Cleaning Tasks in Large-Scale Unstructured Social Environments by Chao Wang, Wei Dong, Renjie Li, Hui Dong, Huajian Liu, Yongzhuo Gao (2024) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-11680043.txt.
Description
Chao Wang and co-authors speed up coverage planning for cleaning robots in a 2024 paper. Big public halls are messy, obstacle strewn spaces where a robot must still sweep every reachable patch. Their method grows from a spanning tree coverage scheme, with the backtracking step rebuilt around chosen return points.
Trading memory for time, the planners cut solution time sharply. The team proves backtracking cannot be avoided in such spaces, which supports the method's generality. A second encoding turns the plan into one smooth, cuttable path, so several robots can share the floor without path clashes and with balanced loads. In simulations and one real site, computing time fell by about eighty two percent.
Catalog record
| CREATOR | Chao Wang, Wei Dong, Renjie Li, Hui Dong, Huajian Liu, Yongzhuo Gao |
|---|---|
| YEAR | 2024 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 49 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |