Full coverage path planning method and system based on dijkstra algorithm

Abstract

The application provides a full-coverage path planning method and system based on Dijkstra algorithm, comprising: two grid maps are established, one of which stores environment occupation information obtained by sonar detection, and the other of which marks whether it is visited; Boustrophedon motion visits the environment grid map and marks the visiting information; after Boustrophedon motion reaches the dead zone, the nearest backtracking point is found by using Dijkstra algorithm, if the backtracking point is found, the backtracking path is smoothed; if the backtracking point is not found, the planning is ended; according to the smoothed backtracking path, the underwater robot is controlled to move to the backtracking point, and then the second step is entered. The application introduces Dijkstra algorithm to search the backtracking point with uncertain position, and the first backtracking point found by the algorithm is the best backtracking point; the application does not need to find all backtracking points to determine the best backtracking point, and the searching method of the best backtracking point is optimized.

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