A full-coverage path planning method for mobile robots in abandoned mining areas

Abstract

The invention discloses a full-coverage path planning method for a mobile robot in an abandoned mining area. The satellite map of the mining area ground is obtained in a remote sensing satellite system, and the satellite map is used as the original map of the mining area ground; Regional decomposition, the original map is decomposed into multiple sub-regions without obstacles; the depth-first search algorithm is used to complete the planning of the traversal order of each sub-region; the biologically inspired neural network algorithm is used to complete the internal traversal of each sub-region and the sub-region Path transfer between paths, so as to obtain complete coverage of the entire environment; design path cost function, and A * Algorithm comparison experiments were conducted to evaluate the performance of the bio-inspired neural network algorithm in path transfer between sub-regions in terms of time cost and path cost. The invention has good environmental adaptability and obstacle avoidance ability, can effectively reduce the difficulty of realizing full-coverage path planning, and realize full-coverage path planning of abandoned mining areas.

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 mining 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 show that land reclamation of abandoned mining areas is an important way to alleviate agricultural land use and improve the ecological environment of mining areas. The environment of mining abandoned land is complex, so it is very difficult for land reclamation technology. Because mobile robots have the capabilities of environment perception, behavior decision-making and motion control, they are widely used in intelligent cleani...

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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