人工智能论文英文版-End-to-End Framework for Robot Lawnmower Coverage Path Planning using Cellular Decomposition.pdfVIP

End-to-EndFrameworkforRobotLawnmowerCoveragePath

PlanningusingCellularDecomposition

111

ShahNikunj,UtsavDeyandKenjiNishimiya

Abstract—EfficientCoveragePathPlanning(CPP)isneces-

saryforautonomousroboticlawnmowerstoeffectivelynavigate

andmaintainlawnswithdiverseandirregularshapes.ThisUserpolygoninputfromaerial

paperintroducesacomprehensiveend-to-endpipelineformapinGPScoordinatesCoordinate

Conversion

CPP,designedtoconvertuser-definedboundariesonanaerial

mapintooptimizedcoveragepathsseamlessly.Thepipeline

5includesuserinputextraction,coordinatetransformation,areaBinaryMap

Generation

2decompositionandpathgenerationusingournovelAdap-

0tiveDecompositionCPPalgorithm,previewandcustomization

PathGeneration

2throughaninteractivecoveragepathvisualizer,andconversion

toactionableGPSwaypoints.TheAdaptiveDecompositionCPP

n

ualgorithmcombinescellulardecompositionwithanadaptive

Jmergingstrategytoreducenon-mowingtraveltherebyen-

hancingo