Design And Realize Of Family Cleaning Robot Path-Coverage System

With the rapid progress of technology, service robot is coming into human's life. Cleaning robot has received more and more attention as the combinations of the technology of mobile robot and cleaner. Cleaning robot can clean room automatically and release human's burden. As one of the particular applications of the intelligent robots, cleaning robot specifically embodies many key technologies and has the typical role of example from the point of technology.This dissertation mainly discusses the complete coverage problem of cleaning robot with contact sensors.Firstly, the existing coverage algorithms are introduced and compared, the environment modeling method based on grid is adopted.Secondly, on one hand, in order to realize the complete coverage of different environment, cleaning robot gets the environment information through contact sensors, builds the environment map and updates the map during the coverage. On the other hand, in order to cover the whole environment, reduce the coverage repetition and improve the efficiency, the internal spiral coverage algorithm based on sub-area division has been proposed, this algorithm has no complex mathematical calculations in the planning which can meet the requirement of real-time and it also reduces the requirement of the memory. At the same time this algorithm doesn't search for the path in the whole space which overcomes the shortcomings of the prevenient grid-based representation that the real-time property will get sharp decline as the space enlarges.Finally, the simulation test of the algorithm has been made under the platform of Microsoft windows. The result of the simulation shows the characteristic of feasibility, stabilization and credibility. This simulation uses C Language which is easy to be replanted to embedded environment. This software also has the advantage of high efficiency of coverage rate so it has bright application foreground.