摘要
分析了清扫机器人控制系统各个功能模块的功能。提出清扫机器人的一种新的遍历算法。首先,对环境栅格建模,每个栅格中心即为代表该栅格的标点,并对环境矩形建模。接着建立一条能遍历所有标点的路径,每搜索到某一标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 introduces an intelligent cleaning robot and describes the structure of control of the control system on the basis of functional frame. A novel algorithm for navigation of cleaning robots in an unknown workspace is introduced. First, we analyze a rectangle cell map representation. The center point of each square cell is a landmark, which represents a rectangle cell. Then, we search for a path, which would pass all landmarks. A rectangle cell will be covered when the relevant landmark is found. Finally, we verify the effectiveness of the proposed algorithm through computer simulations.
出处
《电子机械工程》
2006年第1期59-61,共3页
Electro-Mechanical Engineering
关键词
完全遍历
路径规划
标点
清扫机器人
complete coverage navigation
path planning
landmark
cleaning robot
