Independent Path Planning Method, Vacuuming Robot Unstructured Environment

Coverage path planning is a pivotal problem for Cleaning Robot to achieve intelligence, In this dissertation, the autonomous path planning in unstructured environment is described, along with the related key techniques such as intelligent control and path planning etc. An idea about 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.First, chapter 1 gives a survey of algorithms about intelligent robot and path planning techniques. Chapter 2 describes the aim and detailed contents of this research project, and finally the implementations of algorithms are also theoretically summarized in this chapter. Chapter 3, based on the actionless obstacle and known indoor environment, a way of coverage path planning is given considering confirmability of environment borderline, then the algorithm is emulated and the test result are also provided. Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed. This algorithm mixes the advantages of random planning and partial path planning, and uses the valid information of location in order to improve the applicability in the unstructured room environment. At the same time, in view of the moving obstacle, a escape algorithm is discussed. Then a path planning method to return to charger is given, and the way back inevitability is proved taking into account different locations errors. At last the test results of algorithm are provided and analyzed.