A Research on Area Coverage Algorithm for Robotics

摘要

Area coverage path planning is a special path planning method, which requires the robot to go through every point except obstacles in workspace. It has been used in many fields, such as lawn mowing, snow removal, search and rescue task, pesticide spraying, demining robots, cleaning robots and so on. This paper presents the achievements of the last two decades on area coverage. We propose a new Classification based on method of Choset. We analyze and summarize the recently research results by the new classification method and list the advantages and disadvantages. Finally, we give a summary of the classification methods and propose future research directions.