摘要
扫地机器人逐渐进入到越来越多的普通家庭,这对扫地机器人的路径规划和定位水平提出了更严格的要求。文章在目前已成熟的栅格法、子区域划分法、模板模型法基础上,提出了一种新的扫地机器人基本路径规划方案,并基于启发式搜索算法对该方案加以实现。该方案通过建立一个二维栅格地图并结合适当的子区域划分方法,将全局清扫问题转化为子区域清扫问题以使清扫更高效、便捷;再通过构造合理的评价函数及利用传感器设立沿边清扫机制对基本方案进行优化。基本路径规划方案与启发式搜索算法、沿边机制结合后,解决了机器人在各子区域之间转移带来的高重复率、复杂路径的寻路低效率、不规则障碍物周围清扫低覆盖率等问题。该方案使扫地机器人在整体清扫工作上覆盖率能达到99%,重复率能控制在10%~18%。
Recently, sweeping robots gradually become the essential tools in more and more normal families. The demands of path planning and positioning level for sweeping robot are more rigorous. In this paper, we propose a new path planning scheme for the sweeping robot based on template model method, grid method and subregion division method which are mature, and it is implemented based on heuristic search algorithm. By building a raster map and combining with the appropriate sub-region partition method, the basic path planning scheme can be more efficiently and conveniently. Then the improved scheme constructing reasonable evaluation functions and setting up the edge sweeping mechanism with sensors to improve the basic scheme. Combining with the heuristic search algorithm and the edge mechanism, the main purposes are to cut down the high recurrence rate while transferring among each sub-range, to improve path finding efficiency of complex paths, and to improve coverage rate of irregular obstacles around. Sweeping robot’s fraction of coverage can reach 99% and the repetition rate can be controlled between 10% and18%.
作者
谢坤霖
李宗根
代宇航
周敏
曾晟珂
XIE Kunlin;LI Zonggen;DAI Yuhang;ZHOU Min;ZENG Shengke(Xihua College, Xihua University, Chengdu 610039 China;School of Computer and Software Engineering, Xihua University,Chengdu 610039 China)
出处
《西华大学学报（自然科学版）》
CAS
2019年第4期69-76,共8页
Journal of Xihua University:Natural Science Edition
关键词
扫地机器人
路径规划
启发式搜索算法
栅格法
子区域划分法
sweeping robot
path planning
heuristic search algorithm
grid method
subregion division method
