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Sweeping robot path planning method based on ant colony algorithm

A sweeping robot and ant colony algorithm technology, applied to robot cleaners, manual sweeping machines, instruments, etc., can solve the problems of insufficient cleaning range and weak obstacle avoidance ability, and achieve the effect of targeted cleaning

Pending Publication Date: 2020-05-22
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The cleaning range is not comprehensive enough. At present, some sweeping robots use infrared sensing technology to judge obstacles, and use avoidance strategies to plan paths. The obstacle avoidance ability is relatively weak.

Method used

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  • Sweeping robot path planning method based on ant colony algorithm
  • Sweeping robot path planning method based on ant colony algorithm
  • Sweeping robot path planning method based on ant colony algorithm

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Embodiment Construction

[0031] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0032] combine figure 1 , a path planning method for sweeping robots based on ant colony algorithm, comprising the following steps:

[0033] Step 1: The sweeping robot turns on its own sweeping device and obtains the current environment information;

[0034] Step 2: Find objects with laser reflection properties through the current environment;

[0035] Step 3: Extract the area of ​​the laser reflecting material and partition the area;

[0036] Step 4: According to the partition, use the ant colony algorithm to plan the path for each area, find out the shortest path to clean the area, and clean it. The specific process is:

[0037] First, extract the original material information with laser reflection properties in the environment, and record its location information;

[0038] Secondly, use the ant colony algorithm to ma...

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PUM

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Abstract

The invention discloses a sweeping robot path planning method based on an ant colony algorithm, and relates to the technical field of sweeping robot path planning. The sweeping robot path planning method based on the ant colony algorithm comprises the following steps that starting, by a sweeping robot, a sweeping device of the sweeping robot and obtaining current environment information; searchingan object with a laser reflection property through the current environment; extracting a region of the laser reflection object and partitioning the region; according to sub-regions, performing path planning on each region by utilizing an ant colony algorithm, finding out the shortest path for sweeping the region, and carrying out sweeping; checking whether the region is completely swept or not; and for each sub-region, sweeping the regions one by one according to the neighbor regions. According to the path planning method, the robot can rapidly and comprehensively pass through the whole effective area when there is no target, and the shortest path from the robot to the target can be rapidly and accurately calculated when there is a walking target.

Description

technical field [0001] The invention relates to the technical field of path planning for a sweeping robot, in particular to a path planning method for a sweeping robot based on an ant colony algorithm. Background technique [0002] The sweeping robot is a kind of smart household appliances, which can automatically complete the cleaning of the ground in the room by virtue of certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the debris on the ground into its own garbage storage box, so as to complete the function of ground cleaning. Generally speaking, robots that complete cleaning, vacuuming, and mopping the floor are also collectively classified as sweeping robots. Although the sweeping robot has solved the problems of modern people's daily household cleaning, the following problems still exist based on the sweeping robot: [0003] The cleaning range is not comprehensive enough. At present, some sweeping robots use infrared sensing techn...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06N3/00A47L11/24
CPCG01C21/206G06N3/006A47L11/24A47L2201/00
Inventor 高敏潘正祥李建坡朱淑娟柴清伟
Owner SHANDONG UNIV OF SCI & TECH
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