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Sensors 2018, 18(8), 2585; https://doi.org/10.3390/s18082585

Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor

1
Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
2
Optoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 7000000, Vietnam
*
Author to whom correspondence should be addressed.
Received: 16 May 2018 / Revised: 28 June 2018 / Accepted: 13 July 2018 / Published: 7 August 2018
(This article belongs to the Section Physical Sensors)

Abstract

Advancing an efficient coverage path planning in robots set up for application such as cleaning, painting and mining are becoming more crucial. Such drive in the coverage path planning field proposes numerous techniques over the past few decades. However, the proposed approaches were only applied and tested with a fixed morphological robot in which the coverage performance was significantly degraded in a complex environment. To this end, an A-star based zigzag global planner for a novel self-reconfigurable Tetris inspired cleaning robot (hTetro) presented in this paper. Unlike the traditional A-star algorithm, the presented approach can generate waypoints in order to cover the narrow spaces while assuming appropriate morphology of the hTtero robot with the objective of maximizing the coverage area. We validated the efficiency of the proposed planning approach in the Robot Operation System (ROS) Based simulated environment and tested with the hTetro robot in real-time under the controlled scenarios. Our experiments demonstrate the efficiency of the proposed coverage path planning approach resulting in superior area coverage performance in all considered experimental scenarios. View Full-Text
Keywords: reconfigurable mechanism; floor cleaning robot; area coverage; path planning; feature mapping reconfigurable mechanism; floor cleaning robot; area coverage; path planning; feature mapping
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Le, A.V.; Prabakaran, V.; Sivanantham, V.; Mohan, R.E. Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor. Sensors 2018, 18, 2585.

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