Annexure-I
Development and Verification of Optimization
Algorithm for Coverage Path Planning
Abstract
Kindly provide a short summary of the project indicating problem definition/objectives, scope of
the work, project duration and expected outcome.
Objective and Scope of Project
Path-planning is an important primitive for autonomous mobile robots that lets robots find the
optimal path between two points. Typical path-planning algorithms deal with finding an
optimized path from start to end using a map of the environment and the robot to be aware of its
location with respect to the map. Coverage Path Planning (CPP) algorithm, on the other hand, is
used in application where an autonomous mobile robot is required to visit all the points at least
once in the given environment size with known obstacles. This kind of algorithm can be used for
area inspection, cleaning robots, agricultural field machines, aerial surveillance etc.
The objective of this project is to develop and test an optimization algorithm for solving CPP
problems with dynamic and static obstacles. The project will involve, development of relevant
cost functions for coverage planning with multiple agents and simulating the CPP optimization
using a MATLAB. The developed algorithm will be tested with multiple robotic systems to
prove the feasibility and accuracy. Scaling of computational time with increasing map sizes,
number of agents, obstacle size and shapes will also be analyzed.
Relevant references [Publications, web links etc.]:
Eligibility: Only students of Electronics with Control System Specialization (having good
coding skills in either Matlab or C++) branches can submit their application at following
email addresses
[email protected] [Guide email Address], and [email protected] [Project coordinator’s
e-mail address]
Phone Number: 079-23281022 [Guide phone number]