在未知环境下完全遍历算法——等单元分解法

Complete Coverage Navigation of Cleaning Robots Using Square-Cell-Based Map

本文提出移动机器人的一种新的遍历算法:等单元分解算法,该算法适应于复杂的未知环境。首先,对环境栅格建模,每个栅格中心即为代表该栅格的特征点(基点);并对环境矩形建模。接着建立一条能遍历所有基点的路径,每搜索到某一基点就遍历对应的矩形区域,最终完成环境遍历。最后,通过仿真证明该算法的有效性。

This paper presents a novel approach for complete coverage navigation of cleaning robots in an unknown workspace. First, we discuss a square cell map representation and a rectangle cell map representation. The center point of each square cell is a special point (basic point) which represents a rectangle cell. Then, we search a path that can pass all basic points. A rectangle cell will be covered when the relevant base point is searched. Finally, we verify the effectiveness of the proposed methods through computer simulations.