The Research On Complete Coverage Path Planning For Mobile Robot

In recent years,with the development of artificial intelligence,the application of intelligent service robot is developing rapidly.In order to make our life and work more convenient,the path planning technology in the field of robot research,especially the complete coverage path planning gains more and more attention.According to the performance evaluation index,the mobile robot has to traverse the whole region without collision with obstacles.In the traditional complete coverage path planning,more attention has been paid to achieve the complete coverage of the whole workplace and the problem of overlap rate is ignored.This paper aims to reduce the overlap rate of complete coverage path planning for the mobile robot.According to the built environment including different types of obstacles,the cellular decomposition algorithm of coverage path planning based on the grid map has been designed,and the A * algorithm of global path planning based on the grid and V-graph environmental model has been introduced also for the sub-regions connecting between point-to-point of global path planning algorithm.The cellular decomposition algorithm consists of three parts,namely the cellular decomposition,the sub-regions connections and the coverage of the sub-regions inside.According to the counterclockwise direction,the sub-regions connections use the A * algorithm of global path planning based on the grid and V-graph environmental model.The algorithm consists of three parts,namely building the grid map,designing the visual-point-to-point line,and the search strategy of the path planning.Finally,the algorithm is simulated by MATLAB.The simulation results show that the cellular decomposition algorithm of coverage path planning based on the grid map for the mobile robot can effectively reduce the overlap rate;V-graph A* algorithm can plan a shortest path connecting two sub-regions and reduce the overlap rate.The results show that the algorithm is feasible and effective.