A hybrid algorithm of complete coverage path planning for mobile robot
Chen Pen · Journal of Shandong University of Technology · 2013
This paper presents a hybrid design algorithm of complete coverage path planning for mobile robot under unknown environment based on the rolling planning and known environment search strategy.The unknown environment has been converted to the known area using the environmental information detected by sonar sensors.The algorithm of complete coverage path planning is organized by finite state machine(FSM)approach under the known environment.The state switch has been realized by the binary search strategy,target grid selection strategy and two-point search strategy.At last the algorithm has been tested under simulated environment.Simulation results show that mobile robot can cover the entire work area with low repetition rate and high work efficiency.