清洁机器人路径规划算法研究综述

针对目前清洁机器人的清洁效率低，同时路径规划技术存实际应用中方法简单、适应性弱，特别是在障碍物环境下存在明显的不足等问题，提出了路径规划的基本方法及关键过程，保证机器人完成清洁任务，达到自主路径规划和全区域覆盖的要求。着重分析了环境建模的不同技术，同时讨论了在环境地图中不同的路径搜索算法，通过对算法的覆盖率、重复率等重要性能指标进行了比较，分析了不同算法的优、缺点及适用范围，为算法的合理应用提供了技术参考，最后提出了清洁机器人进一步研究的方向。研究结果表明，根据环境的复杂程度，需要采取不同的路径规划算法来制定控制方案，而对多种算法进行融合技术处理则能有效地提高对不同环境的适用度以及控制系统的鲁棒性。

Survey on cleaning robot path planning algorithm

Aiming at the current problems of cleaning robots＇ inefficient cleaning, and the robots＇ key technology that path planning used in the practical occasions is simple and weak, especially apparent deficiencies exist under the obstacle circumstances, the basic approaches and key process were proposed to ensure that cleaning tasks were completed, and the requirements of autonomous path planning and full regional coverage were achieved. Various technologies on enviromnent modeling were emphatically analyzed, and path search algorithm applied in the environmental map was also discussed, then the advantages and disadvantages and application scope of different algorithms were analyzed by comparing through algorithm performance of coverage and repetition rate, in result, technical reference was provided for reasonable applica- tion, eventually, research direction of future cleaning robot was put h）rward. The resuhs indicate that, according to the complexity of environ- ment, it takes a different path planning algorithm to develop control scheme, but the integration of various algorithms can effectively improve the degree of environmental application and control system robustness.