【摘要】 扫地机器人的清洁路径规划是衡量其工作效率的一个重要评估参数,现有产品其打扫路径基本都是由有规则的几何线段组成。针对这一现状,探讨基于混沌算法的新控制策略。混沌是自然界存在的非线性现象,具有伪随机性和不确定性,但它具有遍历性和有界性。基于Logistic混沌映射,探索混沌算法优化或改善路径覆盖规划的可能性,结合传统扫地机器人的结构与原理,提出一种以混沌算法为理论基础的清洁区域路径规划方案,探讨路径规划优化算法,从而遍历整个清洁区域,最终达到高效清洁的目的。更多还原

【Abstract】 Coverage path planning is an important parameter in assessing sweeping robots’ work efficiency. The sweeping paths of current sweeping robots basically consist of well-regulated geometric line segment. In view of this,a new control strategy is explored based on chaos algorithm. Chaos is a natural nonlinear phenomenon with the features of nondeterminacy and pseudo-randomicity,but it is ergodic and finite. Applying chaos algorithm is a potential way to optimize and improve coverage path planning. Based on the logistic map,chaos algorithm is explored and verified to realize the optimized path planning and improve the working efficiency of sweeping robots.更多还原