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Register a new userOptimal Control for Constrained Coverage Path Planning
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Added by
Debasmit Das
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider augmenting the linear sweep-based coverage method to achieve minimum energy/ time optimality along with maximum area coverage. In addition, we also study the effects of variation of different parameters on the performance of the modified method.
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This paper presents a deep-learning based CPP algorithm, called Coverage Path Planning Network (CPPNet). CPPNet is built using a convolutional neural network (CNN) whose input is a graph-based representation of the occupancy grid map while its output is an edge probability heat graph, where the value of each edge is the probability of belonging to the optimal TSP tour. Finally, a greedy search is used to select the final optimized tour. CPPNet is trained and comparatively evaluated against the TSP tour. It is shown that CPPNet provides near-optimal solutions while requiring significantly less computational time, thus enabling real-time coverage path planning in partially unknown and dynamic environments.
This paper presents a novel algorithm, called $epsilon^*$+, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery size, the energy-constrained vehicles have limited duration of operation time. Therefore, while executing a coverage trajectory, the vehicle has to return to the charging station for a recharge before the battery runs out. In this regard, the $epsilon^*$+ algorithm enables the vehicle to retreat back to the charging station based on the remaining energy which is monitored throughout the coverage process. This is followed by an advance trajectory that takes the vehicle to a near by unexplored waypoint to restart the coverage process, instead of taking it back to the previous left over point of the retreat trajectory; thus reducing the overall coverage time. The proposed $epsilon^*$+ algorithm is an extension of the $epsilon^*$ algorithm, which utilizes an Exploratory Turing Machine (ETM) as a supervisor to navigate the vehicle with back and forth trajectory for complete coverage. The performance of the $epsilon^*$+ algorithm is validated on complex scenarios using Player/Stage which is a high-fidelity robotic simulator.
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region to collect terrain data, where the traveling sequence is optimized using the concept of a coverage tree (CT). A modified TSP-based tree traversal strategy is proposed. The CT-CPP method is validated on a high-fidelity underwater simulator and the results are evaluated in comparison to an existing terrain following CPP method (TF-CPP). The CT-CPP with TSP optimizer yields significant improvements in trajectory length, energy consumption, and reconstruction error.
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage (Spiral-STC). Our algorithm incorporates strict physical constraints like terrain traversability and material load capacity. We compare our algorithm against the state-of-the-art in mCPP for regular grid maps and real field terrains in simulation environments. The experimental results show that our method significantly outperforms existing spiral-STC based mCPP methods. Our algorithm can find a set of well-balanced workload distributions for all robots and therefore, achieve the overall minimum time to complete the coverage.
Motion planning under uncertainty is of significant importance for safety-critical systems such as autonomous vehicles. Such systems have to satisfy necessary constraints (e.g., collision avoidance) with potential uncertainties coming from either disturbed system dynamics or noisy sensor measurements. However, existing motion planning methods cannot efficiently find the robust optimal solutions under general nonlinear and non-convex settings. In this paper, we formulate such problem as chance-constrained Gaussian belief space planning and propose the constrained iterative Linear Quadratic Gaussian (CILQG) algorithm as a real-time solution. In this algorithm, we iteratively calculate a Gaussian approximation of the belief and transform the chance-constraints. We evaluate the effectiveness of our method in simulations of autonomous driving planning tasks with static and dynamic obstacles. Results show that CILQG can handle uncertainties more appropriately and has faster computation time than baseline methods.
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