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An optimal path planning strategy for multiple target search by a mobile robot

Authors

  • Zhang Botao,

    Non-member
    1. Institute of Automation of East China University of Science and Technology, Shanghai, 200237, China
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  • Liu Shirong,

    Non-member, Corresponding author
    1. Institute of Automation of East China University of Science and Technology, Shanghai, 200237, China
    2. Intelligent Mobile Robotics Laboratory of Hangzhou Dianzi University, Zhejiang, 310018, China
    3. The Ministry of Education Engineering Research Center of Detecting Instruments and Automation Systems Integration Technology, Hangzhou Dianzi University, Zhejiang, 310018, China
    • Institute of Automation of East China University of Science and Technology, Shanghai, 200237, China
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  • Lu Qiang,

    Non-member
    1. Intelligent Mobile Robotics Laboratory of Hangzhou Dianzi University, Zhejiang, 310018, China
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  • Dong Deguo

    Non-member, Corresponding author
    1. Institute of Automation of East China University of Science and Technology, Shanghai, 200237, China
    • Institute of Automation of East China University of Science and Technology, Shanghai, 200237, China
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Abstract

Although there is an obvious relationship between the Chinese Postman Problem (CPP) and the path-planning problem for multiple target-search tasks by a robot, no attempts have been made so far to connect the two. A novel map transformation framework (MTF) is proposed in this paper. With MTF, a feature map or a topological map can be converted into a standard topological map on which many graph-search algorithms suitable for CPP can be employed to carry out path planning for multiple target search. Theoretical analysis proves that the route generated by this approach is optimal. Both simulation results and experiments indicate that the MTF-based algorithm is better than several other target-search algorithms. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

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