AUTONOMOUS POSITIONING AND FULL TRAVERSAL PATH PLANNING TECHNOLOGY FOR INDOOR INTELLIGENT SWEEPING ROBOT
International Journal of Mechatronics and Applied Mechanics · 2019
To reduce the complex cleaning workload, people developed indoor intelligent sweeping robot, which can help people clean the indoor environment intelligently and autonomously.Based on previous studies, the current conventional technologies of sweeping robot are introduced, and further studies are carried out.Firstly, low-cost photoelectric encoder and MPU6050 sensor combination positioning are selected for the robot to conduct modeling for the sensor, the system error and random error in the positioning process are analysed, and different correction methods are adopted.Secondly, the system error is corrected by analytical method, and the random error is corrected by extended Kalman filter algorithm.The feasibility of the algorithm is verified by simulation, which provides a guarantee for the research of full traversal path planning.For the area connection path planning of irregular obstacles between adjacent partitions, the sensor is used to clean the irregular obstacles along the side, so that the expansion area can also be covered for cleaning, and the overall cleaning coverage rate can be improved.In order to reduce the repetition rate of the regional connection path between regular obstacles, the improved A* algorithm is used to obtain the rules of starting point, direction and ending point of round-trip traversal in rectangular partition, and the round-trip artificial cleaning mode is used in the rectangular partition without obstacles.The combination of Manhattan distance and diagonal distance is introduced, and the corner cost is introduced into the evaluation function, which effectively reduces the repetition rate of regional connection path.Finally, RobotBASIC is used to carry out the simulation experiment.The results show that the proposed method enables the cleaning robot to find full coverage, low repetition rate and efficiently traverse the cleaning path.The results show that the proposed method enables the cleaning robot to find a traverse clean path with full coverage, low repetition rate and high efficiency.