Design method of full-coverage traversal path planning algorithm of cleaning robot

A technology for cleaning robots and traversing paths, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the connection of sub-regions, the initial stage of sub-regions, repeated traversal of sub-region traversal regions, and blind spots.

Active Publication Date: 2016-09-07
SHANDONG UNIV OF TECH
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Problems solved by technology

[0006] The method of robot full-coverage path planning based on region decomposition can simplify complex problems. Among them, the region decomposition method is relatively mature, but the research on the connection of sub-regions and the traversal of sub-regions is still in its infancy, and the algorithm of sub-region connection is complicated. There are problems such as repeated traversal and blind areas in the traversal area in the sub-area

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  • Design method of full-coverage traversal path planning algorithm of cleaning robot
  • Design method of full-coverage traversal path planning algorithm of cleaning robot
  • Design method of full-coverage traversal path planning algorithm of cleaning robot

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[0080] In order to clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and / or letters in different instances. This repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted herein to avoid unnecessarily limiting the present invent...

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Abstract

The invention discloses a design method of a full-coverage traversal path planning algorithm of a cleaning robot. The design method of the full-coverage traversal path planning algorithm of the cleaning robot comprises the following main processes of generating a traversal cleaning trajectory in a rectangular region by utilizing a Standard chaotic equation, decomposing a to-be-cleaned region into rectangular sub-regions, constructing rectangular iterative sub-regions, constructing an optimal sub-region joining path, constructing rectangular transition sub-regions and repeated sub-regions, constructing an optimal full-coverage traversal cleaning connection diagram, automatically joining the iterative sub-regions, and realizing a full-coverage traversal cleaning task in a feasible region. The algorithm of the design method of the full-coverage traversal path planning algorithm of the cleaning robot is low in repetitive rate and high in coverage rate; a cleaning blind area does not exist; the algorithm is high in planning efficiency; a start point and an end point are not needed to be determined; and the algorithm is simple and is easy to realize. By using the design method of the full-coverage traversal path planning algorithm of the cleaning robot, the indoor cleaning by the robot can be met quite well and the task of planning the full-coverage traversal path is realized.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot, in particular to a design method for a full-coverage traversal path planning algorithm for a cleaning robot, and belongs to the technical field of robot path planning. Background technique [0002] With the rapid development of economic construction and the acceleration of the pace of modern life, more and more people hope to be freed from heavy housework. The emergence of intelligent cleaning robots just meets this demand. The cleaning robot moves in an indoor environment to realize functions such as cleaning, obstacle avoidance, and path planning. This particularly involves a key technology—the full-coverage traversal path planning algorithm. With the development of artificial intelligence control technology and the widespread use of intelligent service robots application, this technology has been intensively studied. [0003] Full-coverage path planning means that the robot travers...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 李彩虹宋勇王凤英王志强梁振英李贻斌
Owner SHANDONG UNIV OF TECH
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