Multiple Work Area Segmentation Based on Work Cost Evaluation

Abstract

In MCPP (Multi-Robot Coverage Path Planning), the entire work area is often divided into multiple smaller work areas, and the path planning for each robot in charge of each area are performed. DARP (Divide Areas based on Robot’s initial Position) is an algorithm that divides the work area equally for each robot in the path planning of multiple robots. However, in order to effectively utilize the scalability of multiple robots in actual works, it is necessary to consider an even distribution not only the area but also the work cost in the work area. This paper proposes a graph-based DARP (G-DARP) that considers the variation of work cost in the work area and partitions the area based on the work cost.