Research Article
Toward Pleomorphic Reconfigurable Robots for Optimum Coverage
| Input: metric map | | Output: coverage strategy | | Initialization | | Creating occupancy grid map; | | do | | Extract metric map of obstacle cluster; | | Algorithm 1(obstacle_cluster); | | Create occupancy grid map for obstacle cluster; | | While (! end of obstacle clusters); | | Planning navigation path and morphology; | | Reconfiguration; | | Execute coverage plan; |
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