摘要
提出了一种未知环境下机器人在线路径规划算法,适用于家用清洁机器人对室内地面的智能化清扫。该算法充分考虑了家用机器人成本低、节能等特点,前期以“迂回推进”的方式,进行2次方向不同的清扫。根据结果得出障碍物和环境信息,再利用边缘跟踪对障碍物及整个环境边缘进行清扫,同时对所得信息进行校正,最终实现全区域的覆盖。整个过程路径段简单,能源利用率高。
A path planning algorithm is presented for unknown environment. The cost and energy have already been closely calculated, the robot cleans room tow times： along X axis and Y axis, from what we can get the information of environment and obstructions. Thd result can be tested and modified by boundary following. Simpleness and high energy profitability is the feature of this method.
出处
《机电一体化》
2007年第2期70-73,共4页
Mechatronics
