Heat conduction combined grid-based optimization method for reconfigurable pavement sweeping robot path planning

Huy Do, Anh Vu Le, Lim Yi, Joel Chan Cheng Hoong, Minh Tran, Van Duc Phan, Minh Bui Vu, Oliver Weeger, Rajesh Elara Mohan

Abstract: Highlights•Presenting a reconfigurable pavement sweeping robot.•A hybrid path planning method combining heat conduction with grid-based optimization.•Harmonic function for the thermal field guarantees the global optimality of paths.•Reconfigurability of the Panthera robot to pass through narrow areas.•Adapt to other reconfigurable robot platforms.