Full-coverage path planning method for mobile robot in abandoned mining area

Abstract

The invention discloses a full-coverage path planning method for a mobile robot in an abandoned mining area. A satellite map of a mining area ground is obtained in a remote sensing satellite system and the satellite map is used as an original map of the mining area ground; on the basis of a cow plough type decomposition method, area decomposition is carried out on the original map and the originalmap is decomposed into a plurality of sub areas not including obstacles; according to a depth-first search algorithm, planning of the traversal sequence of all sub areas is completed; internal traversal of all sub areas and path transferring between all sub areas are completed based on a bio-stimulated neural network algorithm to obtain complete coverage of the entire environment; and a path costfunction is designed and is compared with an A* algorithm based on the comparison experiment, and the performance of the bio-stimulated neural network algorithm in path transfer between all sub areasis evaluated in terms of time cost and path cost. The planning method has the excellent environmental adaptability and obstacle avoidance ability; the difficulty of implementing the full coverage path planning is reduced effectively; and the full coverage path planning of the abandoned area of the mining area is realized.

Description

Technical field [0001] The invention relates to a full-coverage path planning method, in particular to a full-coverage path planning method for a mobile robot in an abandoned mine area. Background technique [0002] Land resources are the carrier of human survival and development and the basic material conditions for agricultural production and industrial construction. However, China has a large population and the contradiction between man and land is the most important contradiction facing our country. A large number of policies and regulations indicate that the reclamation of abandoned land in mining areas is an important way to alleviate agricultural land and improve the ecological environment of mining areas. The environment of abandoned land in mining area is complex, so it is very difficult for land reclamation technology. Because mobile robots have the ability to perceive the environment, make behavior decisions, and control motion, they are widely used in fields such as ...

AI Technical Summary

Problems solved by technology

The random traversal method is a path planning method based on an environment-free model. The cleaning process of this method is simple, but it will cause problems such as high repetition rate, low coverage rate and long cleaning time.

Sensor-based methods need to construct environmental information through multiple sensors, which is costly and difficult to create maps

Therefore, there is currently no path planning method that has good environmental adaptability and obstacle avoidance ability, and has low difficulty in implementing full-coverage path planning for abandoned mining areas.

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