智能扫地机器人的全覆盖路径规划

Complete Coverage Path Planning for Intelligent Sweeping Robot

全覆盖路径规划是智能扫地机器人重要的功能之一,但是基于单元分解方法的全覆盖路径规划对复杂的凹多边形环境分解过于细碎,规划的路径转弯多、调头多,优化效果常未达到最佳.结合扫地机器人的实际应用,在代价函数中加入了转弯和调头的开销;在单元分解时保留可合并规划的凹区域不再分解;单元内路径优化考虑了相邻区域的统一规划和单元间转移,单元间采用全搜索结合蚁群算法得到最佳转移路径,实现了可适用于复杂环境的全覆盖路径性能优化.仿真实验结果表明该方法有效减少了路径的转弯、调头次数和合计总开销,提高了扫地机器人的全覆盖清扫效率.

Complete coverage path planning is one of the essential functions for intelligent sweeping robot.However,cell decomposition method excessively decomposes complex concave polygon environment and ignores turning degrade,so the optimization effect is often not the best.Considering the practical application of sweeping robot,improvements in three aspects are proposed that the cost function is added with the cost of turning,concave areas which can be combined planning with adjacent area are retained no decomposition,and global planning of cell path with transfer between cells are considered by exhaustive search and ant colony algorithm,which can be applied to whole complex environment with better performance.Simulation experimental results show that the proposed approach can effectively reduce turning and total cost,make sweeping robot complete coverage more effectively.