Robot full-coverage path planning method based on secondary region division

A path planning and area division technology, applied in two-dimensional position/channel control, instruments, vehicle position/route/altitude control and other directions, which can solve the problems of lack of efficiency and applicability, many turns, and fuzzy division of areas. , to improve the efficiency of path planning, reduce the overlap of traversal, and reduce the number of turns

Active Publication Date: 2021-06-15
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0004] Full-coverage path planning algorithms are mainly divided into three types: traditional method, grid method and cell decomposition method. They are widely used in various types of mobile robots, but these algorithms will have a high degree of traversal overlap, resulting in path redundancy and turning. Too many times, blurred areas, etc., lack of efficiency and applicability

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  • Robot full-coverage path planning method based on secondary region division
  • Robot full-coverage path planning method based on secondary region division
  • Robot full-coverage path planning method based on secondary region division

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Embodiment Construction

[0054] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0055] Such as figure 1 As shown, a robot full-coverage path planning method based on quadratic area division includes the following steps:

[0056] Step 1. Judging whether there is an occupied object in the middle of the given environment map according to the obtained prior map; the specific judgment method includes the following steps:

[0057] Step 1.1. The indoor environment map acquired by the mobile robot is composed of single-channel pixel points. The pixel value of the boundary position pixel point in the map is described as: image.at(i,j)=76, i, j is the row and column coordinates of pixels in the indoor environment map; the pixel value of the area outside the boundary of the map is: im...

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Abstract

The invention provides a robot full-coverage path planning method based on secondary region division. The robot full-coverage path planning method comprises the following steps of: firstly, judging whether an occupied object exists in a given environment map or not, and carrying out regional division on the map by adopting an algorithm switching mechanism to obtain sub-regions; and then performing quadrilateral mesh division on the sub-regions by using a cellular automaton principle, performing secondary division on the sub-regions, defining a cell and adjacent cell set model, formulating an evolution rule to obtain a coverage path of the sub-regions, and establishing an adjacent path, thereby completing a planning path of the whole environment map. According to the robot full-coverage path planning method, the traversal overlapping degree is reduced, the turning frequency is reduced, the coverage rate is increased, the path planning efficiency is greatly improved, and the method has relatively high feasibility and practical popularization value.

Description

technical field [0001] The invention belongs to the field of artificial intelligence and relates to a mobile robot full-coverage path planning technology, in particular to a robot full-coverage path planning method based on secondary area division. Background technique [0002] At present, the field of artificial intelligence has greatly changed the way of human life and production. As a representative product of the field of artificial intelligence in recent years, robots have been applied to various industries. Indoor mobile robot is a large branch of robotics, which is very common in production and life, and full coverage path planning is an important part of mobile robot research. [0003] Complete Coverage Path Planning——Complete Coverage Path Planning, that is, to design a path that can traverse all areas in the environment based on the prior information obtained in the construction map, which is often referred to as the CCPP problem. Full coverage global path planning...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 蒋林张燕飞马先重赵慧
Owner WUHAN UNIV OF SCI & TECH
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