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Autonomous navigation of quadrupeds using coverage path planning with morphological skeleton maps.

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Summary
This summary is machine-generated.

This study introduces a new autonomous coverage path planning method using a 2D map skeleton to guide robots. The system efficiently navigates and scans environments, achieving 86.5% waypoint reachability despite map drift challenges.

Keywords:
autonomous navigationcoverage path planningquadrupedrobot operating system 2unstructured environment

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Autonomous robots require efficient coverage path planning for environmental scanning.
  • Simultaneous Localization and Mapping (SLAM) provides 2D navigation maps crucial for robot operation.
  • Path planning in unstructured environments presents significant computational challenges.

Purpose of the Study:

  • To propose a novel method for autonomous coverage path planning in unstructured environments.
  • To generate an optimal path by utilizing the morphological skeleton of a 2D navigation map.
  • To enhance robot navigation and scanning capabilities through a Finite State Machine (FSM) control.

Main Methods:

  • Generating a sequence of Points of Interest (POIs) from a 2D map's morphological skeleton.
  • Ordering POIs to create an optimal path based on the robot's current position.
  • Employing a Finite State Machine (FSM) to manage navigation (Nav2) and local scanning modes.

Main Results:

  • The method demonstrated efficient map processing, with map reading and path planning computations taking milliseconds.
  • The system achieved 86.5% waypoint reachability across five trials in a controlled indoor environment.
  • Computation times for map processing were found to be 22.0 ns/pixel and 8.17 μs/pixel for the map reader and path planner, respectively.

Conclusions:

  • The proposed coverage path planning method is effective for autonomous environmental scanning.
  • The system exhibits good time efficiency and waypoint reachability in tested scenarios.
  • Map drift in the 2D navigation map remains a limitation that requires further investigation.