Research On Coverage Path Planning Algorithm Of Intelligent Vacuum Cleaner And Its Measure & Control System Design

Autonomous vacuum cleaner combines the mobile robot technology and the dust catching technology together, thus makes the semiautomatic and automatic cleaning of indoor environment come true, and substitutes the traditional heavy manual cleaning work, so these years it has been attached much importance to by the domestic and international research. As a special application of intelligent mobile robot, from the point view of technology, the intelligent autonomous vacuum cleaner detailed embodies many key technology of mobile robot, and is much representative. From another point of view, autonomous vacuum cleaner will greatly reduce the work intensity and improve the work efficiency, and is propitious to household and public indoor cleaning. So developing autonomous vacuum cleaner is not only challenged in technology but also has wide foreground on market.The paper first takes the mobile robot as an example to establish the environment model in a room include obstacle. Base on this model, it brings forward the design aim of optimized complete coverage path planning, and does some corresponding research from algorithm designing to computer emulation. By reviewing and summarizing the complete coverage path planning existing research product domestic and international, the paper put forwards a practical type optimized complete coverage path planning, and does computer emulation on it. The running result of the program written by Visual C++ shows the feasibility and the validity of the algorithm in the form of cartoon.On the basis of the successful emulation, the paper developed the experiment model of intelligent dust catcher measure-controlling system. This model adopted a step generator with four wheels including two self-driving ones on the left and right, and also two fore-and-aft universal ones. The model made use of infrared detectors to detect the barrier thus can realize the navigation and localization of dust catcher. By use of bumping sensor it can realize obstacle avoidance, and it can distinguish the...