Coverage Path Planning Algorithm Based on Centroidal Power Diagram

Authors

Liping Zheng, Schoolof Computer and Information, Hefei University of Technology, Hefei 230009, China;
Yajun Cheng, Schoolof Computer and Information, Hefei University of Technology, Hefei 230009, China;
Lu Chang, Schoolof Computer and Information, Hefei University of Technology, Hefei 230009, China;
Ting Liao, Schoolof Computer and Information, Hefei University of Technology, Hefei 230009, China;

Abstract

Abstract: Coverage path-planning algorithm is widely used in mobile sensor networks, multi-robot system, and other fields. The coverage path planning algorithm based on CCCPD(Centroidal Capacity Constrained Power Diagram) was studied. The classical Lloyd based generating method for Centroidal Power Diagram was extended to PD-Lloyd algorithm, which could be used for path-planning. Two optimizing strategies were proposed to enhance the credibility of the PD-Lloyd algorithm by considering the physical moving characteristics of individuals in the real scene. Experiments prove that the proposed algorithm has advantages of well stability and inherent collision-free characteristic, and can generate more optimal motion path.

Recommended Citation

Zheng, Liping; Cheng, Yajun; Chang, Lu; and Liao, Ting (2020) "Coverage Path Planning Algorithm Based on Centroidal Power Diagram," Journal of System Simulation: Vol. 29: Iss. 5, Article 25.
DOI: 10.16182/j.issn1004731x.joss.201705025
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss5/25

First Page

1120

Revised Date

2015-08-06

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201705025

Last Page

1124

CLC

TP391.9

Recommended Citation

Zheng Liping, Cheng Yajun, Lu Chang, Liao Ting. Coverage Path Planning Algorithm Based on Centroidal Power Diagram[J]. Journal of System Simulation, 2017, 29(5): 1120-1124.

DOI

10.16182/j.issn1004731x.joss.201705025