A neural network approach to complete coverage path planning

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Simon X Yang, Chaomin Luo

Abstract

Complete coverage path planning requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum robots, painter robots, land mine detectors, lawn mowers, automated harvesters, and window cleaners. In this paper, a novel neural network approach is proposed for complete coverage path planning with obstacle avoidance of cleaning robots in nonstationary environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location. The proposed model algorithm is computationally simple. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot paths.

References

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Feb 5, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·S X Yang, M Meng

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Citations

Aug 10, 2000·Neural Networks : the Official Journal of the International Neural Network Society·S X Yang, M Meng
Mar 23, 2010·Health Education Research·Markus A FeufelHans J Berkel
Apr 2, 2016·Computational Intelligence and Neuroscience·Mingyu Fu, Yujie Xu
Nov 13, 2012·IEEE Transactions on Cybernetics·Hong QuSimon X Yang
Jun 10, 2006·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Yan JinMarios M Polycarpou
Sep 25, 2009·IEEE Transactions on Neural Networks·Hong QuZhang Yi
Feb 6, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Chenghui Cai, Silvia Ferrari
Nov 2, 2011·IEEE Transactions on Neural Networks·Jianjun Ni, Simon X Yang
Mar 20, 2010·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Silvia FerrariThomas A Wettergren
Aug 15, 2006·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Allan R Willms, Simon X Yang
Aug 21, 2015·IEEE Transactions on Cybernetics·Qi KangMengChu Zhou
Oct 25, 2016·IEEE Transactions on Neural Networks and Learning Systems·Xiang CaoSimon X Yang
Dec 8, 2015·IEEE Transactions on Cybernetics·Derek Mikesell, Christopher Griffin
Apr 22, 2021·Journal of Intelligent & Robotic Systems·Janardan Kumar Verma, Virender Ranga

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