基于蚁群算法的清扫机器人路径规划设计

Path Planning of Cleaning Robot based on Ant Colony Algorithm

在国内外对蚁群算法理论研究与工程应用的基础上,采用蚁群算法对清扫机器人进行路径规划设计.通过分析蚁群算法原理,并结合家庭中清扫时清扫机器人所遇到的障碍物,通过环境建模实现清扫机器人的路径规划.清扫机器人硬件采用模块化的设计,将清扫机器人分成行走模块、清扫与吸尘模块、传感器模块.进行系统的综合调试.试验结果表明清扫机器人清扫面积重复率小于6%,避障成功率为93%,达到了工程精度的要求.

This paper studies the theory and application of ant-colony algorithm at home and abroad, and a cleaning robot based on ant colony algorithm is designed and implemented. By analyzing the principle of ant colony algorithm and combining the obstacles encountered by a cleaning robot in the cleaning process, the path planning and active obstacle avoidance of the sweeper are realized. Hardware of the cleaning robot is modularized, and the cleaning robot is divided into walking module, sweeping and vacuuming module, sensor module and single chip module. The system is debugged on the spot. The experimental results show that the repetition rate of sweeping area is less than 6%, and the success rate of obstacle avoidance is 93%.