Research On Efficient Wall Following Algorithm And Complete Coverage Path Planning Algorithm For Indoor Mobile Robot

Wall following algorithm and complete coverage path planning are two important parts of indoor mobile robot,it lays a foundation for the intellectualization of indoor mobile robot.At present,the wall following algorithm is complicated,repeat path easily and cannot traverse completely.And the existing full-coverage path planning algorithm has a high degree of overlapping traversal,so the robot has redundant paths and more turns.In this paper,the efficient wall following algorithm and complete coverage path planning algorithm of indoor mobile robot are studied.The detailed research contents are as follows:(1)Current wall following algorithm of the indoor mobile robot is complex in the statistic situation,the path is easily repetitive and inefficiently.The motion rule base was established by the historical environmental motion state in the last period,the current environmental motion state and the rotation direction information of the mobile robot firstly.Then,the mobile robot collected three kinds of information above in real time to determine the current movement direction,and so on until it completed the specified task along the wall.The results show that the algorithm can complete the task of walking along the wall efficiently and quickly in different and complex environments,and it has good adaptability to the unknown indoor environment through experiments.(2)Current wall following algorithm of the indoor mobile robot is complex in the unknown dynamic environment,can't avoid obstacles in real time and has low efficiency while walking along the wall.The dynamic obstacles were detected by comparing the moving displacement difference |(?) | with the threshold value of the mobile robot within adjacent sampling periods firstly.Secondly,different obstacle avoidance processing was carried out to the dynamic obstacles emerging along the wall.The results show that the robot can complete the task along the wall precisely and the feasibility of the algorithm is verified by experiments.(3)The existing full-coverage path planning algorithm has high traversal overlap,path redundancy and many turns.A complete coverage path planning algorithm based on secondary region division was proposed.Firstly,judging whether there was an occupied object in the environment map,the sub-region was got using the algorithm switching mechanism to divide the region of the map.Then,the sub-regions were divided into the quadrilateral grid using the principle of cellular automata.The sub-regions were divided twice.The model of cellular and adjacent cellular sets were defined.The evolution rules were formulated.The coverage path of sub-regions were obtained.The coverage planning of the whole map was completed finally.The feasibility of the algorithm were verified by experiments.