Coverage Path Planning Techniques for Inspection of Disjoint Regions with Precedence Provision

Zeba Khanam, Sangeet Saha, Shoaib Ehsan, Rustam Stolkin, Klaus Mcdonald-Maier

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Recent times are witnessing an emergence of sites that are hazardous for human access. This has created a global demand to equip agents with the ability to autonomously inspect such environments by computing a coverage path effectively and efficiently. However, inspection of such sites requires agents to consider the correlation of work, providing precedence provision in visiting regions. The current approaches to compute coverage path in the hazardous sites, however, do not consider precedence provision. To this end, coverage path planning strategies are proposed, which provide precedence provision. To meet the challenges, the problem is divided into two phases: inter-region and intra-region path planning. In the 'inter-region' path planning of the approach, the site comprising of multiple disjoint regions is modelled as connectivity graph. Two novel approaches, Mixed Integer Linear Programming (MILP) solution and heuristic based techniques, are proposed to generate the ordered sequence of regions to be traversed. In the 'intra-region' path planning of the approach, each region is decomposed into a grid and Boustrophedon Motion is planned over each region. The ability of combined approach to provide complete coverage is proved under minor assumption. An investigative study has been conducted to elucidate the efficiency of the proposed approach in different scenarios using simulation experiments. The proposed approach is evaluated against baseline approaches. The results manifest a significant reduction in cost and execution time, which caters to inspection of target sites comprising of multiple disjoint regions with precedence provision.

Original languageEnglish
Article number9294034
Pages (from-to)5412-5427
Number of pages16
JournalIEEE Access
Early online date15 Dec 2020
Publication statusPublished - 11 Jan 2021
Externally publishedYes


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