| With the rapid development of science and technology, the service robots intohuman society gradually. The service robots rapid development, especially thecleaning robot helps the people to extricate from the arduous family cleaning work,therefore caused great attention already in recent years. And has good marketprospects.In this paper, to overcome the limits let by the complete coverage planningcarried out by high repetition rate and low intelligence. We propose a completealgorithm for mobile robot in an unknown environment. The algorithms enablemobile robots to traverse their surrounding reliably and efficiently. It combinedInternal Spiral Coverage(ISC) algorithm, A*algorithm and grassfire algorithm torealize complete coverage. Indoor environment the rasterized modeling method, notonly can improve the efficiency of the mobile robot perceptions of the environmentalso avoid errors caused due to the computationally intensive. Initially, the robotadopts internal spiral coverage. Only when the robot enters into “deadlock”, namely,the grids around it either covered or occupied by obstacles, the grass fire algorithm isadopted to search a vacant grid that is nearest to the robot’s current position. Then therobot performs A*algorithm to plan a path to the new vacant grid and continues itscoverage.Finally, the proposed method of complete coverage is verified in GA. Then thecomplete coverage algorithm is experimented on the platform of the “FutureStar”robot. The simulation and experimental results show that the mobile robot using thisalgorithm in the process to achieve full coverage with a low repetition rate, goodresults were obtained in a different environment. |
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