GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

Vishnu G. Nair, K. R. Guruprasad

Research output: Contribution to journalArticle

Abstract

In this paper we address the problem of coverage path planning (CPP) for multiple cooperating mobile robots. We use a 'partition and cover' approach using Voronoi partition to achieve natural passive cooperation between robots to avoid task duplicity. We combine two generalizations of Voronoi partition, namely geodesic-distance-based Voronoi partition and Manhattan-distance-based Voronoi partition, to address contiguity of partition in the presence of obstacles and to avoid partition-boundary-induced coverage gap. The region is divided into 2D×2D grids, where D is the size of the robot footprint. Individual robots can use any of the single-robot CPP algorithms. We show that with the proposed Geodesic-Manhattan Voronoi-partition-based coverage (GM-VPC), a complete and non-overlapping coverage can be achieved at grid level provided that the underlying single-robot CPP algorithm has similar property.We demonstrated using two representative single-robot coverage strategies, namely Boustrophedon-decomposition-based coverage and Spanning Tree coverage, first based on so-called exact cellular decomposition and second based on approximate cellular decomposition, that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlaps. Simulation experiments using Matlab and V-rep robot simulator and experiments with Fire Bird V mobile robot are carried out to validate the proposed coverage strategy.

Original languageEnglish
JournalRobotica
DOIs
Publication statusAccepted/In press - 01-01-2019

Fingerprint

Multi-robot
Voronoi
Geodesic
Coverage
Partition
Robots
Robot
Motion planning
Decomposition
Mobile robots
Path Planning
Decompose
Mobile Robot
Birds
Fires
Grid
Contiguity
Simulators
Experiments
Geodesic Distance

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

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GM-VPC : An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition. / Nair, Vishnu G.; Guruprasad, K. R.

In: Robotica, 01.01.2019.

Research output: Contribution to journalArticle

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