An Offline-Online Strategy for Goal-Oriented Coverage Path Planning using A Priori Information

Zeba Khanam, Sangeet Saha, Dimitri Ognibene, Klaus McDonald-Maier, Shoaib Ehsan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Recent times are witnessing the emergence of indoor sites with extenuating circumstances that place a strict time constraint on mobile robots to reach a target while covering a given area. This has created a global demand to equip mobile robots with the ability to autonomously plan a coverage path to reach the static target effectively and efficiently. The current approaches to achieve such tasks, however, are either time-consuming or human-operator dependent. To this end, an offline-online strategy is proposed to meet the speeding-up challenge by efficiently modelling the environment using a priori information. In the 'offline' stage of the strategy, the layout of the environment is segmented into a set of regions. The corners and dead-ends are identified based on the spatial mobility of the regions. The global path is then computed by deriving a graph-structured, road map using the segmented regions. In the 'online' stage, the global path is traversed by selecting frontiers which concurrently minimizes the covered area and time. In case the path is obstructed, a re-planning strategy is deployed. The proposed strategy is evaluated by various experiments against two baseline search approaches in three simulated environments. The results manifest a significant reduction in time to reach the goal and coverage area which caters to the strict time constraint for mobile robots.

Original languageEnglish
Title of host publication2021 14th IEEE International Conference on Industry Applications, INDUSCON 2021 - Proceedings
EditorsMarcos de Sales Guerra Tsuzuki, Marcosiris Amorim de Oliveira Pessoa
Number of pages8
ISBN (Electronic)9781665441186
ISBN (Print)9781665431033
Publication statusPublished - 15 Aug 2021
Externally publishedYes
Event14th IEEE International Conference on Industry Applications - Virtual, Sao Paulo, Brazil
Duration: 15 Aug 202118 Aug 2021
Conference number: 14


Conference14th IEEE International Conference on Industry Applications
Abbreviated titleINDUSCON 2021
CityVirtual, Sao Paulo


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