Full coverage path planning method of mobile robot

A mobile robot and path planning technology, applied in the field of mobile robots, can solve the problems of high time and energy consumption, long paths, and low coverage efficiency

Active Publication Date: 2017-12-22
DALIAN UNIV OF TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

The traditional method generally adopts to know the surrounding environment first, and then plan the traversal plan. However, although these algorithms can achieve full coverage of the area an

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  • Full coverage path planning method of mobile robot
  • Full coverage path planning method of mobile robot
  • Full coverage path planning method of mobile robot

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Embodiment Construction

[0083] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the implementation of the present invention. example, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0084] In view of the fact that the mobile robot has the following functions: walking a specified distance straight ahead, walking a specified distance directly behind, turning left and right at a certain angle, and detecting the distance between front, rear, left, and right objects, the mobile robot of the present invention should be able to turn And at least o...

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Abstract

The invention discloses a full coverage path planning method of a mobile robot. The method comprises: step one, a current position of a mobile robot is obtained and with the position as a reference position, a working area of the mobile robot is divided into a plurality of unit cells in advance to form current target regions; step two, with an initial direction as a first movement direction, a needed traversal function is preset before traversing by the mobile robot and an initial value is set; step three, next traversing is carried out based on a traversing direction corresponding to a current position and an obstacle in an environment is detected and identified synchronously during the traversing process; and step four, the step three is repeated and traversing of a next target region is carried out until a traversing cut-off condition is met, so that traversing of all working areas is completed. The method has advantages of high coverage rate, low repetition coverage rate and short consumption time.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a full-coverage path planning method for a mobile robot. Background technique [0002] In applications such as indoor cleaning, outdoor weeding, agricultural seeding, and underwater target search, mobile robots are required to work according to the full coverage map area. In order to improve the traversal efficiency of mobile robots, full-coverage path planning for mobile robots is required. The full-coverage path planning refers to the technology that a mobile robot should avoid all obstacles in a given area and cover all non-obstacle areas. The corresponding full-coverage path planning has the following requirements : (1) Effective obstacle avoidance; (2) Complete coverage of non-obstacle areas; (3) No repeated paths; (4) Less time and energy consumption. The full coverage path planning algorithms of mobile robots mainly include Morse decomposition method and waveform...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0276
Inventor 陈喆殷福亮杨克强
Owner DALIAN UNIV OF TECH
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