Research On Full Coverage Path Planning Algorithm For Mobile Robot

The coverage rate of working areas,such as clean areas and weeding areas,is an important indicator,which determines whether those robots can complete a given task.At present,there have been many solutions to the problem of full coverage of the working area.However,those approaches all have similar disadvantages,including high coverage repetition rate,high energy consumption,and low efficiency.According to the above reasons,this thesis studies the problem of full coverage of the working area.First of all,the existing reciprocating full-coverage path planning algorithm has the shortcomings of high repetition rate and poor map applicability.In order to solve this problem,this thesis presents a reciprocating algorithm that allows changing the direction of the preferred motion.Under certain conditions,the algorithm can change the priority movement direction of the robot.The improved algorithm can not only cover the concave area,but also reduce the coverage repetition rate.Besides,When the robot enters the dead zone,the path obtained by the traditional A~* algorithm on the grid map is not smooth enough.In order to solve this problem,this thesis presents a method,which can adjust the current path using a normal map.This adjustment not only shortens the motion path of the robot,but also makes the path smoother.Finally,combined with the dynamic window approach,this thesis proposes a fullcoverage path planning method that is also applicable in dynamic environments.This method can not only completely cover the work area,but also avoid dynamic obstacles in the work environment.The results of multiple simulations show that the algorithm proposed in this thesis can make the working area of the robot completely cover the given area.The repetition rate and length of the path obtained by simulation are lower than those of the classical algorithm.At the same time,the robot can safely avoid dynamic obstacles.