Full-coverage path planning method of mobile robot

Abstract

The invention provides a full-coverage path planning method of a mobile robot. The full-coverage path planning method is a novel coverage algorithm by solving the problems of optimizing of coverage division and path planning in the process; the pre-acknowledging of map space environment is not required; the areas are divided in the coverage process, and the process is an incremental type coverageprocess; the coverage is dynamically divided, and the obstacles which dynamically appear can be selected and planned in real time, so as to complete double tasks of coverage and obstacle avoidance. The full-coverage path planning method is not only suitable for map environments using topology environment rules, but also suitable for the environment spaces in the complicated areas; compared with the cow tillage division algorithm, more advantages are realized.

Description

technical field [0001] The invention relates to the technical field of mobile robot applications, in particular to a full-coverage path planning method for a mobile robot. Background technique [0002] Full-coverage path planning technology means that a mobile robot finds a path through all points in the space from an area or a space of interest, and this path must avoid obstacles in the environment. In order to achieve a full-coverage path, the robot must Meet the following conditions: [0003] 1) The mobile robot must pass through all points in the target area to complete complete coverage; [0004] 2) The mobile robot must fill the target domain with non-overlapping paths; [0005] 3) The coverage path must be continuous and orderly, without any repeated coverage; [0006] 4) All obstacles must be avoided during the movement; [0007] 5) The coverage path strategy is as simple as possible; [0008] 6) Optimize coverage paths as much as possible where allowed. [000...

AI Technical Summary

Problems solved by technology

[0003] 1) The mobile robot must pass through all points in the target area to complete complete coverage;

[0004] 2) The mobile robot must fill the target domain with non-overlapping paths;

[0005] 3) The coverage path must be continuous and orderly, without any repeated coverage;

[0006] 4) All obstacles must be avoided during the movement;

However, there are still the following technical problems: First, although the full-coverage path algorithm of Niu Geng segmentation can achieve full coverage of the map, it must cover the known map environment and cannot cover the unknown map environment

Secondly, the sub-areas divided by Niu Geng are not the least areas, and there is still room for further optimization in the number of areas

Furthermore, the processing of its dynamic obstacle avoidance link is relatively complicated, and the effect is not ideal.

Images