Multi-communication-region full-coverage sweeping path planning method for unmanned sweeper

Abstract

The invention discloses a multi-communication-region full-coverage sweeping path planning method for an unmanned sweeper. The multi-communication-region full-coverage sweeping path planning method comprises the steps of: S1, representing an inner ring and an outer ring of an annular region by using polygons respectively; S2, when the inner ring and the outer ring of the annular region are equidistant polygons, judging the annular region as a regular annular region, and executing a step S3 to obtain a full-coverage broken line path of the whole region, otherwise, judging the annular region as an irregular annular region and executing the step S4; S3, executing full-coverage planning operation of the regular annular region; S4, acquiring full-coverage broken line paths of the regular annularregion and a pipeline region which are split by the irregular annular region; S5, executing a pipeline region full-coverage planning operation; and S6, splicing the full-coverage broken line paths ofthe regular annular region and the pipeline region to obtain the full-coverage broken line path of the whole annular region. According to the multi-communication-region full-coverage sweeping path planning method, the trend of the full-coverage path is described by utilizing the geometrical features of the regular annular region and the pipeline region, so that the full coverage of the region isensured.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a cleaning path planning method for multi-connected areas of an unmanned sweeping vehicle with full coverage. Background technique [0002] In recent years, with the development of science and technology, unmanned driving technology has increasingly appeared in people's lives. Among them, in some cleaning scenarios, unmanned driving technology can greatly reduce the burden on sanitation workers. [0003] In parks, campuses and other scenarios, an important function that unmanned driving needs to have is: full-coverage cleaning path planning, that is, in a specific closed area, clean the entire area as much as possible. Therefore, for an unmanned cleaning vehicle, it is necessary to design a driving path that not only meets the kinematic constraints of the vehicle, but also makes its envelope area cover the entire cleaning area as much as possible. [0004] However, th...

AI Technical Summary

Problems solved by technology

[0006] One is the path planning algorithm based on the grid map, which is generally used for household sweeping robots, and broken lines are allowed, which has great constraints on unmanned sweeping vehicles and cannot meet the curvature requir

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