The Robot Path Planning Algorithm In Indoor Environment
Zhifeng Wang, Heng Xie, Zeqin Lin, Tao Wen, Chenglong Guo, Haichu Chen · IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society · 2020
The sweeping robots used to clean the floor by random collision and infrared detection, which is inefficient and time-consuming. The path of those robots is disorder and some area may be cleaned for several times. Due to the fact that the robot needs to avoid the obstacles on their path, it may cause low coverage problem. A elastic path planning algorithm based on U-shaped trajectory is designed to allow the robot to fit int the indoor environment. The robot can change the length of the trajectory to avoid collision. Instead of using obstacle-avoidance algorithm, a kind of smart algorithm is designed to recover the area that is left due to the obstacle-avoidance. In addition, to prevent the robot from cleaning the area that has been cleaned before, a mechanism is built to allow the robot to memory the cleaned area. In practice, after being tested by the experiments, the coverage rate of the robot can reach 94.61 %, which is more than the robots that use random cleaning mode, and the robot uses less electricity compared with the conventional ones.