Study On Full-area Coverage Path Planning And Collision Avoidance For Cleaning Robot

Full-area coverage path planning is a pivotal problem for cleaning robot to achieve intelligence. In this dissertation, the autonomous path planning in unknown environment is described, along with the related key techniques such as path planning and obstacle avoidance etc. An idea about full-area coverage path planning is put forward to acclimate all kinds of complex conditions in order to improve the application of cleaning robot in the family life.This dissertation introduces not only the research actuality and development of cleaning robot, but also characteristic and method of path planning. It also researches on the cleaning robot's movement model, orientation method, indoor obstacle environment and the path planning of auto returning to the power base. It embodies:(1) It introduces the hardware structure of cleaning robot and analyses the model of kinematics of cleaning robot and put forward the equation of dispersing kinematics equation. It analyses the pulse orientation method of cleaning robot. At last, it gains the relationship of speed, circumrotating angle and pulse.(2) Basing on the exploration system of the cleaning robot, it inosculates the information of the several sensors with the production rule method. Then, it can identify the styles of the obstacles quick and take gist for the collision avoidance.(3) Basing on the orientation information and the environment model, a full-area coverage algorithm for the indoor unknown obstacle environment is put forward. With the sensors and the driving wheel's pulse of cleaning robot, it can control the action of cleaning robot and found the environment model, then complete the cleaning task of full-area coverage.(4) A algorithm is designed in the event of shortage of cleaning robot's power. It is capable of automatically sensing and getting back to charge on its own. The algorithm, targeting the trait of unfixed charging seat's position, is comprehensive practicable and relative easy to implement in the software way. it also gain good result in the practice applicationThe research supplies a feasible technology reference to the design and development of the cleaning robot, and forms an integrated and applied design method and obstacle avoidance strategy, providing the theoretic basis to the same kind of research.