Energy-Efficient Coverage Path Planning for General Terrain Surfaces

Chenming  Wu; Chengkai Dai; Xiaoxi Gong; Yong-Jin Liu; Jun Wang; Xianfeng David  Gu; Charlie C.L. Wang

doi:10.1109/LRA.2019.2899920

Energy-Efficient Coverage Path Planning for General Terrain Surfaces

Chenming Wu, Chengkai Dai, Xiaoxi Gong, Yong-Jin Liu, Jun Wang, Xianfeng David Gu, Charlie C.L. Wang^*

^*Corresponding author for this work

Materials and Manufacturing

Research output: Contribution to journal › Article › Scientific › peer-review

25 Citations (Scopus)

Abstract

This letter tackles the problem of energy-efficient coverage path planning for exploring general surfaces by an autonomous vehicle. Efficient algorithms are developed to generate paths on freeform 3-D surfaces according to a special design pattern as height extremity aware Fermat spiral for this purpose. By using the exact boundary-sourced geodesic distances, the method for generating Fermat spiral paths is first introduced to cover a general surface. Then, heuristics for energy efficiency are incorporated to add peak points of a height field as sources for geodesic computation. The paths generated by our method can significantly reduce the cost caused by gravity. Physical experiments have been taken on different terrain surfaces to demonstrate the effectiveness of our approach.

Original language	English
Article number	8643385
Pages (from-to)	2584-2591
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	4
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2019.2899920
Publication status	Published - 2019

Keywords

energy and environment-aware automation
field robots
Motion and path planning

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/LRA.2019.2899920

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title = "Energy-Efficient Coverage Path Planning for General Terrain Surfaces",

abstract = "This letter tackles the problem of energy-efficient coverage path planning for exploring general surfaces by an autonomous vehicle. Efficient algorithms are developed to generate paths on freeform 3-D surfaces according to a special design pattern as height extremity aware Fermat spiral for this purpose. By using the exact boundary-sourced geodesic distances, the method for generating Fermat spiral paths is first introduced to cover a general surface. Then, heuristics for energy efficiency are incorporated to add peak points of a height field as sources for geodesic computation. The paths generated by our method can significantly reduce the cost caused by gravity. Physical experiments have been taken on different terrain surfaces to demonstrate the effectiveness of our approach.",

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AU - Wu, Chenming

AU - Dai, Chengkai

AU - Gong, Xiaoxi

AU - Liu, Yong-Jin

AU - Wang, Jun

AU - Gu, Xianfeng David

AU - Wang, Charlie C.L.

PY - 2019

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AB - This letter tackles the problem of energy-efficient coverage path planning for exploring general surfaces by an autonomous vehicle. Efficient algorithms are developed to generate paths on freeform 3-D surfaces according to a special design pattern as height extremity aware Fermat spiral for this purpose. By using the exact boundary-sourced geodesic distances, the method for generating Fermat spiral paths is first introduced to cover a general surface. Then, heuristics for energy efficiency are incorporated to add peak points of a height field as sources for geodesic computation. The paths generated by our method can significantly reduce the cost caused by gravity. Physical experiments have been taken on different terrain surfaces to demonstrate the effectiveness of our approach.

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ER -

Energy-Efficient Coverage Path Planning for General Terrain Surfaces

Abstract

Keywords

UN SDGs

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