Complete Coverage Path Planning of Mobile Robot Based on Dynamic Programming Algorithm
A complete coverage path planning algorithm,which combines local space coverage with global planning,is proposed.At first,environmental model of mobile robot in a space with obstacles is built by Boustrophedon unit decomposition method,and mobile robot realizes coverage in a reciprocating way in local space.S econdly,it takes local space divid ing,sub-space connecting sequence and sub-space walking route into account,then a completely 4onnected distance matrix that represents the connecting relation ship ofth e coverage sp ace are defined.Thirdly,dynamic programming algorithm is used to optimize this matrix and a shortest global coverage sequence is acquired.Simulation example proves the effectiveness of the proposed algorithm.
Mobile robot Complete coverage path planning Boustrophedon unit decomposition Dynamic programming algorithm
Peng Zhou Zhong-min Wang Zhen-nan Li Yang Li
Institute of Mechatronics Engineering,Tianjin University of Technology and Education Tianjin 300222,China
国际会议
沈阳
英文
1837-1841
2012-09-26（万方平台首次上网日期，不代表论文的发表时间）