基于栅格地图的机器人覆盖路径规划研究

Study of coverage path planning based on grid-map

研究了基于接触传感器的机器人覆盖问题,提出了基于栅格地图的内螺旋覆盖(ISC)算法。ISC算法通过边界探索获得环境边界地图之后,在线规划覆盖路径,用距离转变的搜索方法保证了完全覆盖,通过设置gate栅格降低了重复覆盖率。通过对三个房间组成的室内环境的覆盖仿真试验验证了该方法的可行性。

This paper studied the coverage for the robot with contact sensors, and proposed the internal spiral coverage （ISC） algorithm based on grid-map. There were two stages in ISC ： in the first stage the robot explored along the boundary of the environment, and in the second stage the robot planed the coverage path on-line. Using distance transform approach guaranteed complete coverage, and reduced the repeat coverage by setting the gate grids. Then the simulation result proved the feasibility in which the robot covered the indoor environment completely that was made up of three rooms.