矩形区域内清扫机器人的运动学分析

Kinematics Analysis of Cleaning Robot in Rectangular Area

对全自动清扫机器人在矩形作业区域内的运动学进行研究,建立了迂回式清扫方式和回字形清扫方式下机器人运动的切换系统模型,求出了系统方程的解析解。该模型既可以让机器人遍历作业区域,又可以避免重复作业。而且,该模型易于硬件实现,可以作为全自动清扫机器人在不规则或者有障碍作业区域内实现全覆盖路径规划中的一个基本模块,从而提高全自动清扫机器人在实际应用中的效能。

The kinematics of fully automatic cleaning robot working in a rectangle area is studied. The switching dynamical models for two casesof cleaning paths （i.e., the circuitous path, and homocentric square path） are established, and the analytical solutions of two system equations are solved.The models can let robot traverse the rectangle area, and can also avoid duplication. Moreover, the models are easy in hardware implementation. Eachmodel can be used as a basic module of cleaning robot working in an irregular work area or in the area with some barriers to achieve complete coveragepath planning, and therefore, to increase the efficiency of the automatic cleaning robot in the actual application.