移动机器人全局覆盖路径规划算法研究进展与展望

首先通过势场栅格法、单元分解法、全局与局部转换法等三大方法介绍了单移动机器人各种不同的全覆盖算法，分析了各种不同算法的性能，指出了它们的优缺点，并对每种方法的改进方法进行了探讨分析;另外，针对多机器人协作全覆盖路径规划的研究，探讨了基于单机器人全覆盖路径规划算法和任务分配算法等结合得到的多机器人协作路径规划算法;最后探讨移动机器人全覆盖路径规划算法的研究方向。分析结果表明，对于移动机器人全覆盖算法的研究，可充分利用现有算法的优势互补，或借助多学科交叉的优势，寻找更有效的算法。

Complete coverage path planning algorithm for mobile robot: progress and prospect

Different complete coverage algorithms for single mobile robot were classified into three kinds. They are potential filed grid based, cellular decomposition based, and transformation between local transform and global transform based approaches. Their performances were analyzed and the advantages and disadvantages were pointed out, then the improved methods were discussed and analyzed. In addition, the complete coverage path planning algorithms for multiple mobile robots based on combination of single robot path planning algorithm and task allocation were investigated. Finally, the further research direction of complete coverage algorithm for mobile robots was discussed. The analytical results show that the full use of complementary advantages of the current algorithms, or taking multi-disciplinary advantages may provide whole algorithm of mobile robot research with more efficient algorithm.