Robot full-coverage path planning method and device based on raster map as well as equipment
A grid map, path planning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high repetition rate and low efficiency
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[0067] The technical solution will be described in detail below through a preferred embodiment and in conjunction with the accompanying drawings.
[0068] This embodiment provides a method and device for planning a full coverage path of a robot based on a grid map, including:
[0069] The map acquisition module is used to acquire self-positioning information and grid map obstacle information in the two-dimensional grid map; it specifically includes a sensor module for acquiring positioning information and image information and a SLAM module for instant positioning and map construction ;
[0070] The map decomposition module is used to distinguish the obstacle area and the feasible area without obstacles in the two-dimensional grid map, and then divides the feasible area into several sub-areas; it specifically includes the two-dimensional grid map according to the obstacle The binarization module that converts the object situation into a binary image and the sub-region divisio...
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