基于MRDS的清洁机器人室内路径规划算法的仿真实现

针对目前室内清洁机器人的路径规划算法理论研究较多,而难以应用于实践的问题,建立了清洁机器人相对定位的数学模型,通过使用清洁机器人的迂回式路径规划、回字形路径规划、包围式路径规划和启发式路径规划算法进行了研究,分析了路径规划算法的具体实现过程.利用微软机器人开发平台（MRDS）,使用可视化编程语言（VPL）,对4种路径规划算法进行仿真实验.对启发式路径规划中激光测距仪的返回数据进行了分析,将单位时间内各路径规划算法的转弯角度作为评价算法优劣的标准,比较了各路径规划算法的优缺点.研究结果表明,启发式路径规划中,清洁机器人能够根据当前的环境信息选择最佳路径,相同时间内所用转弯角度最少,该算法优于其他算法,具有一定的推广价值.

Indoor path planning algorithm and simulation of cleaning robot based on MRDS

Aiming at the problems that the cleaning robots＇ path planning algorithm is difficult to apply into practice, despite theory of cleaning robots＇ path planning algorithm is rich enough, a relative positioning mathematical model of the cleaning robots was established, the circuitous path planning, the homocentrie squares path planning, the bracket path planning and the heuristic path planning algorithm were used, and the implementation of the path planning algorithm was analyzed in detail. Then these path planning algorithms were simulated with microsoft robotics development studio （MRDS） in visual program language （VPL）. The data from the laser range finder of the heuristic path planning was processed, the turning angle of different path planning algorithms during the same time was set to the standard, and the advan- tages and disadvantages of these path planning algorithms were compared. The results indicate that the heuristic path planning can choose optimum path planning based on the environment information, and the turning angle of the heuristic path planning turns out to be the least, which is better to be generalized than other algorithms.