Abstract
Coverage path planning (CPP) is in great demand with applications in agriculture, mining, manufacturing, etc. Most research in this area focused on 2D CPP problems solving the coverage problem with irregular 2D maps. Comparatively, CPP on uneven terrains is not fully solved. When there are many slopy areas in the working field, it is necessary to adjust the path shape and make it adapt to the 3D terrain surface to save energy consumption. This article proposes a terrain-shape-adaptive CPP method with three significant features. First, the paths grow by themselves according to the local terrain surface shapes. Second, the growth rule utilizes the 3D terrain traversability analysis, which makes them automatically avoid entering hazardous zones. Third, the irregularly distributed paths are connected under an optimal sequence with an improved genetic algorithm. As a result, the method can provide an autonomously growing terrain-adaptive coverage path with high energy efficiency and coverage rate compared to previous research works. It is demonstrated on various maps and is proven to be robust to terrain conditions.
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Funding
This research was funded by the National Natural Science Foundation of China, grant number 62173220, and the Shanghai Science and Technology Innovation Action Plan, grant number 19DZ1207305.
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[Wenwei Qiu] and [Dacheng Zhou] are declared as joint first authors, signifying their equal contribution to this research in coding, data collection, analysis and paper writing. [Wenbo Hui] contributed to the construction and comparative analysis of two contrasting algorithms, GBNN and STC. [Afimbo Reuben Kwabena] and [Yubo Xing] played a key role in the interpretation and analysis of the data. The algorithm employed for the traversability analysis in this study was developed by [Quan Li]. [Yi Qian] took charge of figure design and visualization in this research. [Huayan Pu] provided support in the design of algorithms and experiments for this study. [Yangmin Xie] propose the original idea for the TSA-CPP algorithm and in charge of the paper writing.
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Qiu, W., Zhou, D., Hui, W. et al. Terrain-Shape-Adaptive Coverage Path Planning With Traversability Analysis. J Intell Robot Syst 110, 41 (2024). https://doi.org/10.1007/s10846-024-02073-8
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DOI: https://doi.org/10.1007/s10846-024-02073-8