基于栅格地图的环境建模在清扫机器人路径规划中的应用

The Application of Environment Modeling Based on Grid Map in Path Planning of Cleaning Robot

论文采用栅格法建立环境地图模型,利用沿边走的路径规划算法进行室内清洁机器人无障碍与避障路径规划仿真试验。结果表明,在静态环境中,扫地机器人可以根据内螺旋式路径规划方法完成清扫任务,面积覆盖率高,重复率低,且能成功避开所设置的障碍物和边界,进行自动定位和转向。该方法与随机式路径规划方法相比效果很好。

The paper uses the grid method to establish the environment map model,and uses the side-walking path planning algorithm to carry out the simulation test of the obstacle-free and obstacle-avoidance path planning of the indoor cleaning robot.The results show that in the static environment,the cleaning robot can complete the cleaning task according to the internal spiral path planning method,with high area coverage rate and low repetition rate,and can successfully avoid the obstacles placed and boundaries,and carry out automatic positioning and steering.Compared with the random path planning method,the effect of this method is very good.