Rapid traversal robot full-coverage path planning method

A path planning, full coverage technology, applied in the field of mobile robots, can solve the problem of low efficiency of full coverage cleaning, and achieve the effect of speeding up the full traversal speed, improving efficiency, and reducing the total path length

Active Publication Date: 2019-10-15
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The present invention provides a fast traversal robot full-coverage path planning method, aiming to solve the problem of low efficiency of full-coverage cleaning by existing sweeping robots

Method used

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  • Rapid traversal robot full-coverage path planning method
  • Rapid traversal robot full-coverage path planning method
  • Rapid traversal robot full-coverage path planning method

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Embodiment Construction

[0017] In order to better understand the technical solutions of the present invention, the implementation manners of the present invention will be further described below in conjunction with the accompanying drawings.

[0018] see figure 1 , figure 1 It is a schematic flowchart of a fast-traversing robot full-coverage path planning method of the present invention, and the specific process is as follows:

[0019] S1: First, starting from the charging pile of the cleaning robot, initialize the grid map, and divide the space into a limited number of grid units by occupying the grid map:

[0020] m=m i

[0021] Among them, m i Indicates the i-th grid cell, each m i Corresponds to a three-valued occupancy variable that indicates whether the unit is occupied. If the grid is occupied, it is "1", if it is not occupied, it is "0", and the unknown area (or unscanned area) is "-1". p(m i = 1) or p(m i ) indicates the possibility that the grid is occupied, and each p(m in the ini...

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Abstract

The invention discloses a rapid traversal robot full-coverage path planning method, which comprises following steps that firstly, a current pose of a robot is estimated through a Monte Carlo positioning algorithm, and a grid map is constructed by using an inversion measurement model; region segmentation on the grid map is carried out based on the longest edge direction of the grid map and each vertex of the grid map; a cost value from each grid of the grid map to a starting point is calculated to determine a cleaning area; and a cleaning direction is determined according to the longest side ofthe grid map so as to plan the full-coverage path. According to the invention, concave polygon can be divided into convex polygons, so that an arched full-coverage path can be conveniently planned, and at the same time, the rotation times of the cleaning robot are reduced, the traversal time is greatly reduced, and the cleaning efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a full-coverage path planning method for a cleaning robot. Background technique [0002] In the 1960s, robots were born due to industrial development. With the development of society and the advancement of technology, the functions of robots have become diversified. At present, service robots are becoming more and more popular. Indoor cleaning robot is a kind of household service robot, which can replace human labor to reduce labor burden, and has become a hotspot in the research of intelligent robots, among which path planning technology is one of the core issues in the field of intelligent robots. [0003] The main research content of robot path planning technology includes point-to-point path planning and full coverage path planning. Among them, full-coverage path planning refers to finding a continuous path that passes through all accessible points in a set area under ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 郑涛徐志楠王进陆国栋喻志勇
Owner ZHEJIANG UNIV
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