摘要
为了满足室内清扫机器人完全覆盖路径规划中的最大覆盖率和最小重复率的要求,在清扫机器人犁田式路径规划的基础上,提出了运用回溯法来实现清扫机器人的路径规划,最终完成室内环境的遍历.仿真结果表明,在静态结构环境中,清扫机器人能够沿着犁田式的路径完成清扫任务,并成功地避开障碍物.
To address the problem of planning complete coverage plans for cleaning robots that have the greatest coverage rates and the lowest recover rates,a backtracking algorithm for local path planning based on plowing global path planning is proposed.Finally,we verify the effectiveness of the proposed algorithm through computer simulation is verified.The simulation results indicate that the cleaning robot can avoid obstacles and complete the cleaning task along a plowing global path planning successfully.
出处
《中原工学院学报》
CAS
2010年第3期1-3,58,共4页
Journal of Zhongyuan University of Technology
基金
郑州市国际合作研究项目(083sgyg25124-13)
关键词
清扫机器人
栅格地图
完全遍历
路径规划
cleaning robot
grid map
complete coverage navigation
path planning
