Planning method for security robot to traverse patrol paths in full coverage

Abstract

The invention discloses a planning method for a security robot to traverse patrol paths in full coverage. The planning method for the security robot to traverse the patrol paths in full coverage comprises the following steps that a chaotic path controller of the security robot is constructed, and the traversal planning paths of the robot at each moment are solved; high coverage rate variable is selected in an Arnold chaotic equation to construct the chaotic path controller of the security robot; a candidate set with high coverage rate is constructed; a compression mapping transformation algorithm is designed; and the patrol paths for the security robot to traverse in full coverage are generated. According to the planning method for the security robot to traverse the patrol paths in full coverage, the variable which can generate the highest coverage rate in the Arnold chaotic equation is combined with a kinematic equation of the security robot to construct the chaotic path controller; by using compression transformation technology, a planned trajectory is mapped to a specified starting point, so that a continuous full coverage traversal trajectory is generated, the traversal coverage rate is improved, and the chaotic characteristics of the system is kept unchanged, the requirements of traversal, randomness and unpredictability required by the patrol path of the security robot are met.

Description

Technical field [0001] The invention relates to a path planning method for a mobile robot, in particular to a planning method for a security robot to fully cover traverse patrol paths, belonging to the technical field of robot path planning. Background technique [0002] Security is a major issue that the whole society is concerned about. Therefore, security is a work that must be paid attention to in all industries, especially in potentially dangerous and high-risk industries. Therefore, security monitoring has always been a necessary department for all units. In recent years, labor costs have continued to rise, and many units are facing difficulties in recruiting qualified security personnel. Security patrols with clean manpower also pose certain security risks. [0003] As the world enters the digital age, security robots and various intelligent security systems can gradually replace simple and tedious security tasks. As technology continues to mature, they can be applied on a...

AI Technical Summary

Problems solved by technology

However, the use of Arnold equations to construct chaotic robots to generate full-coverage traversal trajectories has the following problems: (1) The three-dimensional chaotic equation has three variables, and the current research work has not discussed which variable to use to construct a chaotic path controller with better traversal coverage; (2) ) If the movement trajectory generated by the chaotic robot is not controlled, it is difficult to concentrate in a given environment, so the coverage rate cannot be guaranteed; (3) Most of the current research results use the method of mirror mapping to limit the operating boundary of the movement trajectory , which restricts the chaotic robot with scattered traversal trajectories too much, which affects the chaotic characteristics of the system, increases the number of judgments, and affects the planning efficiency of the system

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