一种室内扫地机器人全遍历路径规划方法研究

针对目前室内扫地机器人大多采用随机式或者规划式清扫方式,会造成重复率高、覆盖率低及清扫时间长等问题,提出了一种沿边学习、子区域划分和局部地图创建、沿边向中扩展清扫循环的全遍历路径规划方法.机器人通过传感器沿第一条边学习周围环境,学习结束后划分子区域并建立局部地图;以子区域边界点为起点沿边向中扩展遍历清扫子区域;完成子区域清扫后以遍历终点为起点进行第二条边学习,直到完成整个环境区域的清扫.实验验证方法覆盖率提高了4%~8%,清扫时间缩短了2~7 min,且成本低、方法简单易行,具有一定的应用价值.

Study on a complete coverage path planning methd for indoor cleaning robots

Aiming at problem that most of indoor cleaning robots adopt random or planning type cleaning methods,which can cause high repetition rate,low coverage rate and long cleaning time,present a method of complete coverage path planning based on circulation of border learning,sub-areas division and local map building,and along the border to expand cleaning.The robot study surrounding environment along the first edge by sensors,and sub-area is divided and local map is built up and the sub-area is traversed to clean. To traverse destination as a starting point for second edge learning,and until the entire environmental area is cleaned.The method is tested in the experimental environment,the result shows that the coverage is improved by 4%~8% and the cleaning time is shortened 2~7 min.It has advantage of low cost,simple and easy operation.The method has certain application value.