Indoor area covering method suitable for vehicle type mobile robot

Abstract

The invention discloses an indoor area covering method suitable for a vehicle type mobile robot. The method includes the steps of firstly, building a two-dimensional static raster map based on information of sensors such as a laser range finder, completing raster cost distribution of the static map, and forming a dynamic cost map; secondly, completing area dividing of the cost map, and obtaining the information of sub-areas; finally, building a map according to the adjacency relationship between the sub-areas, applying a sub-area planning algorithm based on a minimum tree to the map to obtain a sub-area planning sequence, applying an area transferring algorithm based on a Dijkstra algorithm to obtain inter-area transferring routes, and using different covering strategies according to the specifications of the sub-areas to achieve complete area covering. Compared with a traditional method, the indoor area covering method suitable for the vehicle type mobile robot has the advantages that multi-strategy covering of the different areas is achieved, the covering efficiency of the robot can be improved, and the indoor area covering method conforms to the perceiving habits of people.

Description

technical field [0001] The invention relates to an area coverage method available for a vehicle-type mobile robot in an indoor environment. It uses a certain motion control logic to enable the robot to traverse the entire workspace. This process requires the robot to avoid obstacles independently and also enables the robot to cover the space as much as possible. In each unit, and to avoid repeated coverage of the area as much as possible, the whole behavior conforms to the characteristics of human cognition. It belongs to the field of path planning for mobile robots. Background technique [0002] With the advancement of the times and the continuous development of science and technology, robots are widely used in human production and life to assist or replace humans in completing some tasks with high repetitiveness, low technical content or relatively dangerous tasks, such as aerospace , industrial production, education, rescue, housekeeping services, etc. Area coverage is ...

AI Technical Summary

Problems solved by technology

Most of the current research on unmanned vehicles focuses on its application in outdoor environments, and rarely considers its application in large-scale indoor environments such as exhibition halls and halls.

On the other hand, it is difficult to directly transplant the technology of outdoor unmanned vehicles to the indoor environment, because global positioning methods such as GPS and Beidou signals are currently unavailable in the indoor environment, and indoor positioning and navigation technologies must be used

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