摘要
扫地机器人现有的各种路径规划对定位、航迹推算提出了严格的要求,路径计算量及规划难度也随即增大;而简单的随机覆盖法却存在着低覆盖率及高重复率的缺点。为了避免上述各种缺陷,提出了一种路径规划的改进算法,经过扫地机器人验证平台的测试,利用此种改进算法进行路径规划,不仅避免了上述各种缺陷,同时还能够根据环境的相关特征信息做出更进一步的优化。
The strict requirements for locating and the dead reckoning are put forward by the existing various path plannings of the sweeping robot,and the path calculation and planning difficulty also increase.In addition,the simple random coverage method has the disadvantages of low coverage rate and high repetition rate.In order to avoid these defects,an improved algorithm for path planning is proposed,which is tested by the sweeping robot verification platform.The proposed algorithm for path planning makes many existing defects of the sweeping robot be avoided and more further optimized depending on related feature information of environment.
出处
《测控技术》
CSCD
2017年第2期120-123,127,共5页
Measurement & Control Technology
关键词
扫地机器人
路径规划
改进算法
特征信息
sweeping robot
path planning
improved algorithm
feature information
