自主吸尘机器人在非结构性环境下的作业规划

Task Planning for Autonomous Dust - collecting Robot in Unstructured Environment

本文主要研究自主吸尘机器人在实际环境下作业规划问题,提出了用电子地图建立环境模型的方法和通过机器人的自主工作来建立电子地图的学习方式,并结合所要解决的实际问题,提出了基于任务和基于行为相结合的作业规划方法,很好地解决了非结构性环境下的机器人规划的效率和适用性问题,虽然这种方法是在研究自主吸尘机器人的过程中提出的,但也具有一定的普遍意义。

In this paper, we mainly discuss the task planning problem for Autonomous dust - collecting robot in unstructured environment. We put forword a solution method of Electronic Map to discribe the room environment as a mathemetic model, a way of environment learning by the robot itself, and a new way of task planning, combining the task - driven behavior and the sensor - driven behavior. In this way the problem of efficiency and applicability is solved soundly. Although it is put forward during the research of dust - collecting robot, it has much more application prospect.