Research On Mobile Robots Complete Coverage System

With the fast development of new principle in intelligent control, computer network, bionics and artificial intelligence, mobile robot has become the focus in the field of robotics and automation. Complete coverage path planning of mobile robot has wide application prospect. Many robot appliances require the complete coverage path planning, such as cleaning robots, vacuum robots, lawnmowers, automated harvesters, land mine detectors and so on. At present, complete coverage path planning has received much attention in robotics and artificial intelligence fields day by day.Be different with usually point-to-point path planning, Complete coverage path planning is a special type of trajectory generation in 2- dimensional (2D) environments; it requires the robot path to pass through the whole area of the workspace. This thesis studied the complete coverage path planning of indoor service mobile robots. We have studied the environment modeling and coverage algorithms of mobile robots systematically. The algorithm descriptions are represented. Then we have proposed a new complete coverage path planning algorithm and designed its hardware platform. In this paper, we lucubrate on some key techniques of mobile robot system as following:1. Based on the cellular decomposition algorithm, we have proposed a new environment modeling algorithm - rectangle decomposition which is composed of cellular nodes and interleaving network. The environment is divided into some small region (subspace ), in which there is a special point (mark node). If the node is found, the corresponding subspace is found too.2. Based on rectangle decomposition, we have proposed a new coverage algorithm, which includs global path planning and local path planning. In the global path planning, uncovered subspaces are found one by one using a special search rule. In the local path planning, the subspace is covered using template based model. Finally we have presented software simulation, which shows that the coverage algorithm is simple, efficient, and even adapt for complex environment.3. In addition, a novel hardware platform of mobile robot complete coverage system has been developed. It includs embedded environment perception system(EEPS), motor drive system and master control system.