Complete Coverage Path Planning Algorithm for Cleaning Robot
To address the problem of planning complete coverage plans for cleaning robots that have the greatest coverage rates and the lowest recover rates,we proposed a backtrack algorithm for local path planning based on zigzag pattern global path planning.The proposed algorithms rely on a priori knowledge of a 2D map of the environment.A map based approach is used to control the path execution,thus incorporating,in a natural way,the kinematic and the geometric model of the mobile robot on the path planning procedure.Finally,we verify the effectiveness of the proposed algorithm through computer simulation.The simulation results indicate that the cleaning robot can avoid obstacles and finish the cleaning task along a zigzag pattern global path planning successfully.
cleaning robot grid map complete coverage navigation path planning
Jianli Yu Liang Xu
School of Electric and Information Engineering Zhengzhou Institute of Aeronautical Industry Manageme School of Electric and Information Engineering Zhongyuan University of Technology Zhengzhou,Peoples
国际会议
秦皇岛
英文
470-473
2010-11-05（万方平台首次上网日期，不代表论文的发表时间）