Cleaning Robot Path Planning Under Indoor Environment

At present, various of service robots are designed and penetrated into every field of people's daily life. These service robots will replace people's labor as they deal with the works related to people's every day life, gradually to provide the convenience of people's life and improve the people's life. Cleaning robot as a new product in the field of service robots, has become an important part of the family service robots. In general, the cleaning robot has just started in our country. There are still many significant technical problems to be solved, such as environment model and the path planning. Environment modeling accuracy is very important, which will directly affect the cleaning robot localization and navigation. The path planning of cleaning robot is different from the general point to point planning method. The purpose of point to point is to search an optimized path from one point to another without bump obstacles. However, the cleaning robot must completely cover all the floor area in a room. There are two factors must be considered: the greatest coverage rates and the lowest recover rates.In this paper, we propose a backtrack algorithm for local path planning based on zigzag pattern global path planning. The proposed algorithms rely on a priori knowledge of a 2D grid map of the environment. A map based approach is used to control the path execution, thus incorporating, in a natural way, the kinematic and the geometric model of the mobile robot on the path planning procedure. According to the indoor environment, we adopt the zigzag pattern path planning to traverse the environment. When the environment appears some complex obstacles, the path returns by backtracking in such a concave obstacle. Finally, we verify the effectiveness of the proposed algorithm through computer simulation. The simulation results indicate that the cleaning robot can avoid obstacles and finish the cleaning task along a zigzag pattern global path planning successfully.