Complete Coverage Path Planning and Obstacle Avoidance Strategy of the Robot

In order to solve the problems of complete coverage path and obstacle avoidance with the mobile robot, the complete coverage planning was described first, and then the algorithm of the complete coverage path planning was analyzed. The complete traversal algorithm and the obstacle avoidance strategy of the robot around the barrier were put forward. Finally, the traversal control flow chart of the traversal robot implemented in Single Chip Microcomputer (SCM) was obtained. After the above analysis, the algorithm was simple, practical, and low repeatability, and high efficiency. The algorithms could effectively solve the difficulty of complete coverage path and obstacle avoidance with the robot.

[1]  Makoto Yamada,et al.  Cleaning robot control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[2]  Theodore A. Linden,et al.  Architecture and early experience with planning for the ALV , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  Tucker Balch,et al.  Making a Clean Sweep: Behavior Based Vacuuming , 1993 .

[4]  Paolo Fiorini,et al.  A Short History of Cleaning Robots , 2000, Auton. Robots.

[5]  R. D Schraft,et al.  Automated cleaning of windows on standard facades , 2000 .

[6]  Ernest L. Hall,et al.  Region filling operations with random obstacle avoidance for mobile robots , 1988, J. Field Robotics.

[7]  Alexander Zelinsky,et al.  Acquiring mobile robot behaviors by learning trajectory velocities with multiple FAM matrices , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).