ICCSA'11 Proceedings of the 2011 international conference on Computational science and its applications - Volume Part III
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This paper deals with and simulates the mowing ofa lawn, which is a continuous planar area, by a mobilerobot. The robot is given as input a bitmap of a knowngeometric area and derives an optimal covering pathby implementing and improving the well known on-lineFull Scan Spanning Tree Covering (STC) algorithm.The optimal path for continuous area coverage iscalculated using a defining Depth First Search (DFS)spanning tree. We enhanced the STC algorithm byoptimizing the number of U-turns along the path andallowing the mowing direction to be shifted.Furthermore, because our method uses different sensorinformation than used by the original algorithm, errorsare reduced. The results of our improved algorithm arepresented in an example wherein a 3D simulationprogram mimics the robot’s path and providesstatistical calculations for testing optimality.