Nasirian, B. and Mehrandezh, M. and Janabi-Sharifi, F. (2021) Efficient Coverage Path Planning for Mobile Disinfecting Robots Using Graph-Based Representation of Environment. Frontiers in Robotics and AI, 8. ISSN 2296-9144
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Abstract
The effective disinfection of hospitals is paramount in lowering the COVID-19 transmission risk to both patients and medical personnel. Autonomous mobile robots can perform the surface disinfection task in a timely and cost-effective manner, while preventing the direct contact of disinfecting agents with humans. This paper proposes an end-to-end coverage path planning technique that generates a continuous and uninterrupted collision-free path for a mobile robot to cover an area of interest. The aim of this work is to decrease the disinfection task completion time and cost by finding an optimal coverage path using a new graph-based representation of the environment. The results are compared with other existing state-of-the-art coverage path planning approaches. It is shown that the proposed approach generates a path with shorter total travelled distance (fewer number of overlaps) and smaller number of turns.
Item Type: | Article |
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Subjects: | Eprints STM archive > Mathematical Science |
Depositing User: | Unnamed user with email admin@eprints.stmarchive |
Date Deposited: | 29 Jun 2023 03:58 |
Last Modified: | 28 Oct 2023 04:28 |
URI: | http://public.paper4promo.com/id/eprint/784 |