关于移动机器人全覆盖路径规划研究

Research on Full Coverage Path Planning of Mobile Robot

对移动机器人全覆盖路径的规划,能够有效提高机器人自主导航的智能化水平。对移动机器人全覆盖路径的规划,需要对机器人粒子位置进行更新,构造高安全性路径适应度函数,完成移动机器人的全覆盖路径优化规划。传统方法引入障碍物排斥权重,设置局部信息素的阈值,但忽略了对路径选取适应度函数的构造,导致对移动机器人全覆盖路径规划的精度。提出基于栅格法的移动机器人全覆盖路径规划方法。通过对机器人规划路径建模,对机器人的移动路径进行初步规划,并将栅格法得到的输出路径作为粒子的初始种群,根据粒子之间的相互协作实现对粒子位置和速度的不断更新,利用障碍物斥力势场构造高安全性适应度函数,得到机器人从初始位置到目标的最优路径。仿真证明,所提方法中机器人进行移动可以有效地避开障碍物,实现机器人工作区域的全覆盖。

The planning of the full coverage path of the mobile robot can effectively improve the intelligent level of the autonomous navigation of the robot.For full coverage path planning of mobile robot,we need to update the robot’s particle location and construct a high safety path fitness function to complete the full coverage path optimization planning of mobile robot.Traditional methods introduce barrier exclusion weights and set local pheromone threshold,but neglect the construction of fitness function for path selection,resulting in the accuracy of mobile robot’s full coverage path planning.A full coverage path planning method for mobile robots based on grid method is proposed.Based on the modeling of robot path planning,moving path of robot’s initial plan,and the output path by grid method as the initial population of particles,according to the interaction between the particles to achieve the particle position and velocity updating,the obstacle repulsive potential field is used to construct high safety fitness function,and the optimal path of the robot from the initial position to the target is obtained.The simulation shows that the proposed method can effectively avoid obstacles and achieve full coverage of the robot working area.