Ayumu Tominaga1, Eiji Hayashi1, Ryusuke Fujisawa1, Abbe Mowshowitz2
1Graduate School of Computer Science and Systems Engineering, Kyushu Institute
of Technology, 680-4 Kawazu, Iizuka, Fukuoka, Japan 2Department of Computer Science, The City College of New York, 160 Convent
Avenue, New York, NY 10031, USA
pp. 6–11
ABSTRACT
This study evaluates a trajectory generation method for the efficient navigation
of autonomous mobile robots in forests. We propose a graph-based cycle
generation method. A graph was generated using environmental landmarks
as nodes, and the graph was modified to be Eulerian. The Hamiltonian cycle
contained nodes that could be regarded as the midpoint between a pair of
landmarks; an efficient path could then be found. We applied this method
to an artificial forest to verify the feasibility.
ARTICLE INFO
Article History
Received 25 November 2019
Accepted 02 March 2021
Keywords
Path generation
Area coverage
Field robot
Navigation
Graph
Forestry
JAALR2102
Download article(PDF)