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

A technology for patrolling robots and traversing paths, applied in the field of robot path planning, can solve the problems of far away goals, change the chaotic characteristics of the system, and single function, and achieve the effect of simplifying implementation, improving coverage and work efficiency, and uniform distribution.

Inactive Publication Date: 2018-07-06
SHANDONG UNIV OF TECH
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Problems solved by technology

However, they all have the following problems: (1) the inspection line is single, the inspection is not flexible, and the function is single; (2) they do not have the ability to plan paths independently, which is far from the goal of replacing manual patrols
The planned traversal path can meet the

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

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Embodiment Construction

[0083] 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 the purpose of 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...

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Abstract

The invention discloses a design method of a patrol robot full-coverage traversal path planning algorithm. The method includes the following steps that: a one-dimensional Chebychev mapping is selectedas a chaotic dynamic equation, and inverse sine transformation is utilized to improve the chaotic characteristic and uniform characteristic of the chaotic dynamic equation; two inverse sine-improvedone-dimensional Chebychev mapping equations are adopted to construct a two-dimensional chaotic path planner; the patrol area of a robot is decomposed into traversable sub-regions and obstacle regions;transition sub-regions re established, and a transition algorithm is designed; the traversable sub-regions in the patrol area are connected to form a traversal sequence diagram; the patrol robot full-coverage traversal path planning algorithm is designed according to the traversal sequence diagram and the transition algorithm, and the patrol robot full-coverage traversal path planning algorithm can be used for completing a patrol task. The algorithm of the invention has the advantages of simplicity, low repetition rate and high coverage rate, and can ensure the randomness and unpredictabilityof the patrol task while ensuring full coverage of the patrol area.

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 patrol robot, and belongs to the technical field of robot path planning. Background technique [0002] Robots are an essential part of smart cities. In addition to personal application robots such as sweeping robots and companion robots, public service robots such as security, rescue, medical care, and logistics distribution will directly participate in the management and operation of smart cities. Among them, security robots, represented by patrol robots, have shown great potential and space for development. Patrol robots have been used in indoor and outdoor conditions such as smart factories and warehouses. They are used in unmanned or few-person scenarios, assisting and partially replacing humans to complete repetitive, high-risk, and difficult-to-achieve security patrol work. [0003] At ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221
Inventor 李彩虹王凤英王志强王小宇宋莉张宁
Owner SHANDONG UNIV OF TECH
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