Unknown Environment Robot Traversal Algorithm

The path planning algorithm of the automatic cleaning robot is different from the traditional point to point planning method. The goal of point to point planning is to seek an optimized path from the starting point to the end without bump obstacles. However,the cleaning robot should spread over the room area using the area filling path planning algorithm to find a continuous path from the starting point to the end.In this dissertation,the autonomous path planning in unknown environment is described,along with the related key techniques such as path planning and obstacle voidance 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.The paper mainly researches the kinematics model of the cleaning robot and orienting the way, obstacle detection, obstacle form to judge, the technology that the inspiration of local environment searches for carries on detailed research, decompose after putting forward a new map modeling method-obstacles to the standardization of unit,one kind of bars and one dose of units, the method to divide with a new barrier, and plan corresponding movements to the barriers of different types, there is the overall situation based on environmental modeling method described above that searches for algorithms heuristically. The concrete work of the thesis includes:(1) This article analyzes the clean-up of mobile robot body kinematics principles, and has designed the function module of the robot and software and hardware control system of cleaning.(2) According to the simulation of the establishment of cleaning robot platform, this article proposes cleaning the inspiration route of the robot and searching for algorithms. Utilize software to imitate and collide and measure infrared, the function that the robot comes out by simulation carries on the edge and walks first. Combine bar a dose of law and unit and decompose the law and set up the map of environmental border, then carry on " Z " The overall situation of the word is cleaned; When meeting barriers, start the barrier countermeasure, and is improving the environmental map constantly. Carry on experiment prove validity of algorithm this in the emulation through computer software. (3) Because of cleaning the robot platform, this article proposes cleaning the robot inspiration and searching for the way and passing algorithms, and examine algorithms through imitating the experiment.