一个室内清洁机器人的区域遍历与地图绘制

【摘要】 本文针对室内清洁机器人的区域遍历问题,提出了一种地图绘制的方法;该方法基于栅格地图表示环境,对环境地图进行分区,通过自由区域联结图广度优先搜索及深度优先遍历(WSDC)形成方形区域遍历顺序,对机器人探测环境的路线进行导航。实验研究表明栅格地图表示环境对于区域划分与区域遍历更有效;采用WSDC算法产生的区域遍历顺序导航机器人运动,可以减少机器人的运动距离,提高工作效率。更多还原

【Abstract】 We study the behaviors of the coverage of the environment and present a feasible method that robot maps; We represent the environment with the grid map, and divide the map of the environment; Adopt a Width-first Search and Depth-first Coverage (WSDC) method to gain a coverage-order of the square free-areas to navigate the robot movement. The experiment proves that using grid map to express the environment is more effective for the dividing and coverage; Using the order gained by the algorithm of WSDC to navigate the robot could reduce the distance of movement and improve the working efficiency.更多还原