Complete coverage path planning method for mobile robots in unknown environments
Guo Xiaoqin · Jisuanji gongcheng yu sheji · 2010
A new complete coverage path planning algorithm based on rolling path planning and dynamic heuristic searching is proposed to improve efficiency of path planning for mobile robot in unknown environments.The biological inspired neural network is used to model the environment of mobile robot.After the characteristic of local environment around the robot is identified on line,the dynamic heuristic planning method combing static searching and following the boundary of obstacle is applied and generated path is much shorter and less turning.Using virtual obstacle and directly filling algorithm,the continuously covered area in U shape obstacle is obtained in unknown environments.The effectiveness of the proposed algorithm is validated by simulation in unknown complicated environments.