Hierarchical Coverage Path Planning in Complex 3D Environments
Chao Cao,Ji Zhang,Matt Travers,Howie Choset,Chao Cao,Ji Zhang,Matt Travers,Howie Choset
State-of-the-art coverage planning methods perform well in simple environments but take an ineffectively long time to converge to an optimal solution in complex three-dimensional (3D) environments. As more structures are present in the same volume of workspace, these methods slow down as they spend more time searching for all of the nooks and crannies concealed in three-dimensional spaces. This wo...
