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7.5.5 Path Planning
Path planning can only be applied when a map of the environment is known. Only the robots that are capable of SLAM can therefore use optimum coverage path planning approaches [29, 31, 32] in order to achieve systematic covering of the entire free space. The complete coverage path problem differs from the problem of optimum path planning. If in optimum path planning the goal is to find the optimum path between the initial and goal point, the goal of complete coverage is to find the optimum path so the robot covers the entire space. If the space is divided into a grid of cells (cell size depends on the robot dimensions), the goal of optimum coverage is to visit every cell at least once, and in an optimal case only once. This problem is also known as the traveling salesman problem.