摘要
报道了玻璃幕墙清洗机器人设计与路径规划多采用自上而下单向作业造成作业效率较低的现状,对具有双向作业功能的玻璃幕墙清洗机器人路径规划方法进行了研究。充分利用环境物理信息,提出一种考虑机器人往复主运动方向、集成栅格法与启发式搜索算法并可应用于双向作业玻璃幕墙清洗机器人的完全遍历路径规划方法。最后以一个模拟环境为求解实例,证明了算法的有效性。仿真研究表明,该算法不仅简单有效,而且可明显改善路径规划性能,降低路径重叠率。
That design and path planning for glass curtain cleaning robots commonly adopting top-down single-way operating was reported,which resulted in lower cleaning efficiency.And then path planning method of two-way operating glass curtain cleaning robot was investigated.Taking full advantage of environmental information,a complete coverage path planning method considering reciprocating main motion direction integrating grid method and heuristic searching algorithm was proposed,which was used for two-way operating glass curtain cleaning robot.Experiment under simulation environnent verified the validity of the proposed algorithm The simulation studies show that performance of the path planning improves obviously and repeated rate of the planned path decreases obviously.
出处
《机械设计与制造》
北大核心
2013年第11期211-213,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目(51106133)
江苏省高校自然科学基金项目(12KJB510032
10KJB470010)
江苏省水利动力工程重点实验室开放基金项目(K090022)
关键词
清洗机器人
双向作业
完全遍历路径规划
主运动方向
栅格法
启发式搜索
玻璃幕墙
Cleaning Robot
Two-Way Operating
Complete Coverage Path Planning
Main Motion Direction
Grid Method
Heuristic Searching
Glass Curtain
