Squircular-CPP: A Smooth Coverage Path Planning Algorithm based on Squircular Fitting and Spiral Path

Hassan, M; Liu, D; Chen, X

Squircular-CPP: A Smooth Coverage Path Planning Algorithm based on Squircular Fitting and Spiral Path

Hassan, M

Liu, D

Chen, X

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, 2020-July, pp. 1075-1081
Issue Date:: 2020-08-05

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Field	Value	Language
dc.contributor.author	Hassan, M https://orcid.org/0000-0002-0824-3272
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.contributor.author	Chen, X
dc.date	2020-07-06
dc.date.accessioned	2021-02-22T01:19:30Z
dc.date.available	2021-02-22T01:19:30Z
dc.date.issued	2020-08-05
dc.identifier.citation	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, 2020-July, pp. 1075-1081
dc.identifier.isbn	978-1-7281-6795-4
dc.identifier.issn	2159-6247
dc.identifier.uri	http://hdl.handle.net/10453/146275
dc.description.abstract	Coverage path planning (CPP) is essential for applications such as robotic floor cleaning and high-pressure cleaning of surfaces. Smooth CPP algorithms have several benefits including smoother motion of the robot and the reduction of aggressive accelerations and decelerations resulting from sharp turns. In this paper, a novel smooth CPP algorithm is presented which is named Squircular-CPP. This algorithm proposes a squircular shape, which is an intermediate shape between the circle and the square, to fit a target area. Squircular-CPP can also fit a shape between the ellipse and the rectangle. The shape fitting is simple, fast, and analytical and doesn't require a preselection of the shape (i.e., square, circle, ellipse or rectangle). It enables and complements the creation of a smooth spiral path within the fitted shape. Several case studies are presented to demonstrate the effectiveness of the algorithm and to compare it against the popular boustrophedon-based coverage approach and the Deformable Spiral CPP (DSCPP) algorithm.
dc.language	en
dc.publisher	IEEE
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
dc.relation.ispartof	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
dc.relation.isbasedon	10.1109/aim43001.2020.9159023
dc.rights	© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	Squircular-CPP: A Smooth Coverage Path Planning Algorithm based on Squircular Fitting and Spiral Path
dc.type	Conference Proceeding
utslib.citation.volume	2020-July
utslib.location.activity	Boston, MA, USA
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2022-08-05T00:00:00+1000Z
dc.date.updated	2021-02-22T01:19:18Z
pubs.finish-date	2020-07-09
pubs.publication-status	Published
pubs.start-date	2020-07-06
pubs.volume	2020-July

Abstract:

Coverage path planning (CPP) is essential for applications such as robotic floor cleaning and high-pressure cleaning of surfaces. Smooth CPP algorithms have several benefits including smoother motion of the robot and the reduction of aggressive accelerations and decelerations resulting from sharp turns. In this paper, a novel smooth CPP algorithm is presented which is named Squircular-CPP. This algorithm proposes a squircular shape, which is an intermediate shape between the circle and the square, to fit a target area. Squircular-CPP can also fit a shape between the ellipse and the rectangle. The shape fitting is simple, fast, and analytical and doesn't require a preselection of the shape (i.e., square, circle, ellipse or rectangle). It enables and complements the creation of a smooth spiral path within the fitted shape. Several case studies are presented to demonstrate the effectiveness of the algorithm and to compare it against the popular boustrophedon-based coverage approach and the Deformable Spiral CPP (DSCPP) algorithm.

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http://hdl.handle.net/10453/146275