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Online coverage planning can be useful in applications like field monitoringand search and rescue. Without prior information of the environment, achievingresolution-complete coverage considering the non-holonomic mobility constraintsin commonly-used vehicles (e.g., wheeled robots) remains a challenge. In thispaper, we propose a hierarchical, hex-decomposition-based coverage planningalgorithm for unknown, obstacle-cluttered environments. The proposed approachensures resolution-complete coverage, can be tuned to achieve fast exploration,and plans smooth paths for Dubins vehicles to follow at constant velocity inreal-time. Gazebo simulations and hardware experiments with a non-holonomicwheeled robot show that our approach can successfully tradeoff between coverageand exploration speed and can outperform existing online coverage algorithms interms of total covered area or exploration speed according to how it is tuned.

Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments