The problem of robotic area coverage is applicable to many domains, such as search, agriculture, cleaning, and machine tooling. The robotic area coverage task is concerned with moving a vehicle with an effector, or sensor, through the task space such that the sensor passes over every point in the space. For covering complex areas, back and forth paths are inadequate. This paper presents a real-time path planning architecture consisting of layers of a clustering method to divide and conquer the problem combined with a two layered, global and local optimization method. This architecture is able to optimize the execution of a series of waypoints for a restricted mobility vehicle, a fixed wing airplane.

Meeting Name

IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence), 2008


Electrical and Computer Engineering

Keywords and Phrases

Divide and Conquer Methods; Evolutionary Computation; Path Planning; Robots; Travelling Salesman Problems; Vehicles

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 2008 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jun 2008