移动机器人混合式全遍历覆盖路径规划算法

针对移动机器人在未知环境下的全遍历覆盖任务,将滚动规划与已知环境下的搜索策略相结合,设计了一种混合式的全遍历覆盖路径规划算法.对声纳传感器探测到的环境信息进行滚动规划,把未知区域转化为已知区域.在已知区域,采用有限状态机方式来组织全遍历覆盖路径规划算法,状态之间的转换通过二叉树搜索策略、目标栅格选取策略和两点法搜索策略来实现,并对算法进行仿真.结果表明,移动机器人能全遍历覆盖整个工作区域,重复率低,能有效提高工作效率.

A hybrid algorithm of complete coverage path planning for mobile robot

This paper presents a hybrid design algorithm of complete coverage path planning for mobile robot under unknown environment based on the rolling planning and known environment search strategy. The unknown environment has been converted to the known area using the envi- ronmental information detected by sonar sensors. The algorithm of complete coverage path plan- ning is organized by finite state machine （FSM） approach under the known environment. The state switch has been realized by the binary search strategy, target grid selection strategy and two-point search strategy. At last the algorithm has been tested under simulated environment. Simulation results show that mobile robot can cover the entire work area with low repetition rate and high work efficiency.