A Full Coverage Traversed Path Planning of Oil Tank Cleaning Robot
Zhou Li-ku · Machinery Design and Manufacture · 2014
The complete coverage path planning of oil tank cleaning robot requests that the robot at low repeat travels through all oily sludge without obstacles. Article puts forward an efficient complete coverage path planning algorithm of oil tank cleaning robot. Firstly,using graph search algorithm to build the working environment model. Secondly,the robot from starting point covers single oily sludge using internal spiral algorithm. Last,connection turn and shortest path are confirmed based on graph theory prior search algorithm and adjacency matrix,and the robot travels through all oily sludge. Simulation of the algorithm is done in the virtual environment. The result and index estimate the feasibility and efficiency.