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This paper considers the problem of minimizing an overlapped path and turning number to cover an uneven terrain ocean floor for an underwater mining robot. The purpose of this algorithm is to generate the shortest path to travel through the entire given bathymetric map with minimum overlapping path and minimum turning number based on binary map, cell decomposition, minimal sum of altitude method and...
This paper addresses exhaustive coverage path planning of a mining robot based on cellular decomposition in minable area. For this work, the followings are done. First, the map of minable area is decomposed into cells by exact cell decomposition. Second, the coverage path is generated using back-and-forth motion. Third, direction of coverage path and generating graph path using proposed special spanning...
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