A Study on the Coverage Path Planning of the Whole Region for Cleaning Robot

• Main Authors: Yen-Chang Ho, 何彥璋
• Other Authors: 李鈺華
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/51294833198943051148

碩士 === 清雲科技大學 === 電腦通訊與系統工程研究所 === 97 === With the computer technology and robotics’ development, cleaning robots have received more and more attention as the combinations of the technology of mobile robot and cleaner. Cleaning robot could clean room automatically and release human’s burden and include many key technologies of the intelligent robots. The coverage for the robot has been studied in the dissertation, and a grid-based internal spiral coverage algorithm that is grid-based is proposed in the paper. The algorithm realizes simply and has less repeat coverage which guarantees complete coverage. There are two stages in our algorithm, in the first stage the robot explores along the boundary of the environment. In the second stage the robot plans the coverage path. By repetitively covering some grids and setting the GATE grids, it not only guarantees the complete coverage, but also reduces the coverage repetition, thus improves the efficiency. Our proposed algorithm doesn’t search for the path in the whole region, there are no complex mathematical calculations in the path planning which can meet the requirement of real-time system. Our algorithm overcomes the shortcomings of the grid-based representation, that the real-time property will get sharp decline as the region enlarges. Finally, the simulation tests of algorithms have been made using the Matlab7.1 programming tool. The result of the simulation shows that this algorithm with excellent performance.