Full Coverage Traversed Path Planning and Simulation of Intelligence Cleaning Robot
Chu Jian-hua · Measurement & Control Technology · 2012
The method of complete coverage path planning of cleaning robot is studied.A practical method is brought forward,that the cleaning robot firstly walks along the horizontal and vertical line to divide the whole region into several small region which contains no obstacle.Then the order of these small regions in the depth-first graph search is determined.Finally,in the sub-region,the cleaning robot walks along inner spiral path.In the laboratory environment,the smallest cleaning robot system,the experiments are finished.The experiments contain four steps:walking a straight line,turning right with 90°angle,sub-regional traveling and sub-region convergence.The results prove that the presented method is practicability and validity.