Research On Mobile Robot Full Coverage Path Planning And Autonomous Navigation Algorithm

Full coverage path planning and autonomous navigation algorithm for mobile robots have always been an important topic in the field of robotics research.How to construct coverage area in a specific scenario,how to achieve efficient coverage of a certain area,and how to track the existing path points effectively have been the focus and difficulty in the field of robotics research.This thesis takes the cleaning of narrow areas such as parking spaces on the road as the research background,and studies the full coverage path planning and autonomous navigation algorithms to improve the cleaning efficiency of the roads.Focus on key technologies such as coverage areas model construction,full coverage path planning algorithm and track tracking algorithm for in-depth analysis and research.The main work of this paper is as follows:1.Research on multi-resolution raster maps construction algorithm.The contour extraction and filling algorithms aim to extract the coverage area,eliminate the unreachable area of the robot and improve the robustness of the algorithm.Based on the problem of low coverage efficiency caused by the fixed step size of the existing local map,a new multi-resolution raster map built algorithm is proposed.The grid map overlay algorithm determines the grid step size by the robot cover step size,processes the special unit by the quad-tree partitioning technique,and uses the Hilbert Curve to traverse the special grid,and implements the coverage area model construction through the above three parts.2.Research on full coverage path planning algorithm.Firstly,the algorithm model of full coverage path planning is established.Based on the analysis of the bio-inspired neural network model and heuristic algorithm,the direction-guided neural network algorithm is established.When the robot falls into dead zone in the process of coverage,the nearest uncovered point is searched by diffusion,and the optimal greedy algorithm is used to escape the dead zone to reduce the repetition rate.Through the path thinning algorithm research,the path accuracy provided by the algorithm is higher and the coverage rate is improved.3.Research on robot navigation algorithm.Under the premise of existing path points,the paper studies how the robot performs efficient motion planning along the track,analyzes the robot motion model,designs the track-tracking algorithm according to the motion model,adds closed-loop detection to prevent off-track,and has the ability to detect obstacle information and avoid encountering obstacles.4.Experimental research for narrow areas such as parking spaces.The design of the system and the construction of the robot platform were completed.The feasibility and effectiveness of the algorithms were verified by simulation test and actual test.