Indoor area covering method suitable for vehicle type mobile robot

A mobile robot, robot technology, applied in two-dimensional position/channel control and other directions, to achieve the effect of improving coverage efficiency, improving work efficiency, and reducing the number of turns

Active Publication Date: 2015-06-17
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 tran

Method used

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  • Indoor area covering method suitable for vehicle type mobile robot
  • Indoor area covering method suitable for vehicle type mobile robot
  • Indoor area covering method suitable for vehicle type mobile robot

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Embodiment Construction

[0034] This embodiment is implemented on the premise of the technical solution of the invention, and detailed implementation schemes and processes are given, but the implementation scope of the present invention is not limited to the following embodiments.

[0035] Such as figure 1 Shown, a kind of indoor environment area coverage method of vehicle type mobile robot, this method comprises the following steps:

[0036] The first step is to obtain the global pose of the current robot, determine the sub-area where it is located, and obtain the width W of the sub-area and the grid information contained in the sub-area;

[0037] In the second step, compare the width W of the sub-area with the larger value of the minimum turning radius min_radius and the vehicle width width_car to determine the coverage strategy of the area;

[0038] In the third step, if W is less than max(min_radius,width_car), the robot only needs to move in one direction to complete the coverage of the area; ot...

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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 ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈宗海孙建王鹏张启彬
Owner UNIV OF SCI & TECH OF CHINA
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