Algorithm of intelligent cleaning-robot charging return

A Dijkstra algorithm to find the shortest path for cleaning-robot returns to charge was presented.After a subarea map was established based on simplified grid world maps,a spanning tree was fabricated through using the breadth-first and depth-first traversals,finally the shortest path was obtained by Dijkstra arithmetic.Without increasing other sensors,the cleaning-robot can achieve return to charge automatically.This algorithm has a good effect in its practical application.