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AssigneeAvidbots Corp
InventorsMegnath RAMESH, Francis Christopher IMESON, Stephen SMITH, Baris FIDAN
Estimating the term…
A system and method to approximate environment decomposition for robot coverage planning using submodular cover is disclosed. Coverage planning is the task of computing a path for a robot carrying a coverage or sensing tool such that the tool visits all points in the environment. Decompositions of the environment are used in coverage planning to identify sub-regions that can each be optimally covered using a lawnmower path (i.e., a zig-zag path through parallel straight lines) along a single orientation. However, existing approaches make simplifying assumptions, such as fixing the direction of decomposition, and provide no optimality guarantees. An approach to decompose the environment into the minimum number of sectors, which are (possibly intersecting) sub-regions for which the orientations of the lawnmower paths are clearly defined is disclosed. Coverage paths are generated for real-world environments using this approach and show improvements over state-of-the-art coverage planning approaches.
A method for generating a decomposition of an environment for robot coverage planning, the method comprising:
A system for robot coverage planning, comprising:
Dependencies are inferred from the claim text.