A smooth path generation approach for sensor-based coverage path planning

Abstract

In this study, a path smoothing strategy is proposed for sensor-based coverage problems. Smooth paths are generated for the coverage problems considering mobile robot kinematics constraints. An open agent architecture-based control structure is used to implement the proposed approach on real robots. The algorithm is coded with C++ and implemented on P3-DX mobile robots in MobileSim simulation environments. It is shown that the proposed approach smoothes the curves and robot easily turns the corners. As a result of this, the completion time of the coverage decreases.