Coverage Path Planning under the Energy Constraint

Minghan Wei1, Volkan Isler1

  • 1University of Minnesota

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Category

Interactive Session

Sessions

10:30 - 13:00 | Tue 22 May | podG | TuA@G

Motion Planning 1

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Abstract

In the coverage path planning problem, a common assumption is that the robot can fully cover the environment without recharging. However, in reality most mobile robot systems operate under battery limitations. To incorporate this constraint, we consider the problem when the working environment is large and the robot needs to recharge multiple times to fully cover the environment. We focus on a geometric version where the environment is represented as a polygonal grid with a single charging station. Energy consumption throughout the environment is assumed to be uniform and proportional to the distance traveled. We first present a constant-factor approximation algorithm for contour-connected environments. We then extend the algorithm for general environments. We also validate the results in experiments performed with an aerial robot.

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Summary

  • We consider the problem of covering an environment in minimum time with robots that have limited energy budgets
  • We present a constant-factor approximation algorithm for contour-connected environments
  • The algorithm has been implemented and tested in an aerial monitoring task
  • The robot can traverse each path in the figure (drawn with a distinct color) without violating its energy budget