Full-area Coverage Path Planning And Automatically Obstacle Avoiding Of The Robot Cleaners

Autonomous cleaner is hot in the field of mobi1e robot. Though many prototypes and products have been manufactured,they still have many problems to be solved,such as adaptability in dynamic environments ,coverage ratio & efficiency and its cost. To clean a room without help of the hosts,it is a cha11enging task for autonomous cleaner . because it involves many current AI techno1ogies. In view of theory and technology,fu1l autonomous cleaner was applied many key technology for mobi1e robot. They can reduce burden of house work and improve efficiency and are very suitable for using in hotel,hospital,library,office and home. Therefore it is a chal1enge in scientific research and commerce.The paper mainly studies a new type of mobile robot cleaner ,full autonomous cleaner based on sensor. The emphases of this paper are the basic structure,motion analysis and path planning algorithm. All of that are done by myself independently. At first,the theory and the background about this product are introduced,then presents the deve1opment of the intel1igent cleaner . And basing on the theory of the modularity, the thesis introduced the whole structure of the robot . In addition , the thesis has done much work on the research of some important sensors. Then the kinematical model and the answer of the reverse question were analysed of robot cleaner seriously , and the kinematical equation was obtained. After that a totally new algorithm was announced to develop the path planning into an unknown environment using by GP in the order of full area coverage and the obstacle avoiding automatically.At last,some of the well-known algorithms on the full-area path planning were exhibited with the algorithm brought up in this thesis together , and all of them were modulated , and what's more, the comparison were developed on the sector of coverage percentage, repeat percentage, length and the cost time etc. the conclusion showed that the algorithm using GP to explain the path panning was one of the best algorithms .