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Efficient Area Coverage Method for a Mobile Robot in Indoor Environments

This paper presents a novel method for coverage path planning of a mobile robot in indoor environments. Its applications include cleaning robot, patrol robot and so on. When a mobile robot performs area coverage task, completeness and efficiency of coverage are important factors. To achieve completeness, we adopt a divide and conquer strategy. We proposed a novel cell decomposition algorithm that divides a given are into several cells. To achieve efficiency, each cell is covered by paths that require minimum time to cover. We verify the effectiveness of the proposed method through computer simulations.