A novel solution with rapid Voronoi-based coverage path planning in irregular environment for robotic mowing systems

Abstract This paper presents a novel solution of coverage path planning for robotic mowing applications. The algorithm is based on the Boustrophedon motions and rapid Voronoi diagram. coordinate conversion sweeping vector defined by minimum bounding box travel paths are designed to reduce computational cost execution time compared conventional heuristic methods. tracked controlled via dynamic feedback in standard lawn robots under robot operating system (ROS). Within ROS, information exchanging among different tasks both extensive simulation cases experimental field tests can be conducted easily. When meeting unknown obstacles, proposed re-plan its dynamically. performance several algorithms terms efficiency, coverage, repetition, robustness with respect concave convex shapes. demonstrate that applicability sensor fusion complete mowers.